VEHICLE LANE CHANGE CONTROL METHOD AND DEVICE

A method for controlling lane changing of a vehicle, including: receiving a lane changing instruction (step ); acquiring a speed parameter of the vehicle (step ); according to the speed parameter, determining a controlling coefficient of a predetermined controller (step ); acquiring a position-deviation parameter and a heading-angle parameter of the vehicle; if the position-deviation parameter is greater than or equal to a first threshold, or, if the heading-angle parameter is greater than or equal to a second threshold, according to the controlling coefficient, the position-deviation parameter and the heading-angle parameter, determining a target steering-wheel steering angle of the vehicle; and according to the target steering-wheel steering angle, controlling the vehicle to perform a lane changing operation, till the position-deviation parameter is less than the first threshold, and the heading-angle parameter is less than the second threshold (step ). The cost of the vehicle lane changing is greatly reduced.