Vehicle lane changing control method and device, electronic equipment and readable storage medium

The invention discloses a vehicle lane changing control method and device, electronic equipment and a readable storage medium. The method comprises the steps of obtaining sensing information detected by a sensing system in real time, and obtaining position information, collected by a high-precision map system, of a vehicle; according to the position information and the sensing information, determining vehicle information of each vehicle within a preset distance around the vehicle and lane information within the preset distance around the vehicle; matching the vehicle information and the lane information of the vehicle with the lane changing conditions corresponding to all the lane changing types, and determining the lane changing type conforming to the vehicle as a target lane changing type; and planning a lane changing track of the vehicle according to the target lane changing type, the vehicle information and the lane information, and controlling the vehicle to change a lane according to the lane changing t