Lane change planning method and vehicle-mounted device

A vehicle-mounted device comprising a memory and a processor, the memory stores at least one computer-readable instruction, and the processor executes the at least one computer-readable instruction to implement to a lane change planning method, the method comprising:

• planning a first lane change path based on a lane where a vehicle is currently driving and an adjacent lane;
• controlling the vehicle to drive based on the first lane change path, and detecting a first target object when the vehicle drives to a first target position, wherein the first target position is determined by the first lane change path, a dividing line between the lane where the vehicle is currently driving and the adjacent lane;
• controlling the vehicle to drive according to the first lane change path, when the first target object is not detected within a preset distance.