Vehicle lane changing path planning method and related device

The invention discloses a vehicle lane changing path planning method and a related device. The method comprises the steps that lane changing start point A information and lane changing end point B information of a vehicle are acquired, the A information comprises the position coordinates (xA, yA) of A and the orientation angle theta A of A, and the B information comprises the position coordinates(xb, yB) of B and the orientation angle theta B of B; and planning a target lane changing path of the vehicle based on the information of A, the information of B and the characteristics of meta-Eulerspirals. Therefore, a lane changing path which is smoother and gentle compared with that obtained a traditional method can be planned on the basis of the lane changing start point information and thelane changing end point information of the vehicle and the extremely smooth and gentle meta-Euler spirals, and when the vehicle completes vehicle lane changing along the lane changing path, the curvatures of the start point and