Vehicle lane-changing control method, vehicle lanechanging control device and related equipment

A vehicle lane-changing control device, comprising a processor and a memory for storing program instructions, wherein the processor executes the program instructions to:

• control a host vehicle to travel into a neighboring to-be-turned-into lane with a first control rule;
• acquire a location relation between the host vehicle and a referential lane line in real time, wherein the referential lane line is located between the host vehicle and the to-be-turned-into lane;
• determine whether the location relation meets a preset changing rule;
• and
• control an action of the host vehicle with a second control rule corresponding to the preset changing rule in a case that the location relation meets the preset changing rule.

A computer readable storage medium storing computer programs, wherein the computer programs, when executed by a processor, cause the processor to perform a vehicle lane-changing control method comprising:

• controlling a host vehicle to travel into a neighboring to-be-turned-into lane with a first control rule;
• acquiring a location relation between the host vehicle and a referential lane line in real time, wherein the referential lane line is located between the host vehicle and the to-be-turned-into lane;
• determining whether the location relation meets a preset changing rule;
• and
• controlling an action of the host vehicle with a second control rule corresponding to the preset changing rule in a case that the location relation meets the preset changing rule.