Lane changing control method of vehicle and controller

The invention provides a lane changing control method of a vehicle and a controller, and belongs to the technical field of vehicle control. The lane changing control method comprises the steps that when a lane changing control instruction of a vehicle is received, first driving information and the boundary dimension of the vehicle are obtained, and lane line information of a target lane line between a target lane and a current lane of the vehicle and second driving information of the current lane of the vehicle and a target vehicle on the target lane are collected; planning a target lane changing track of the vehicle according to the first driving information, the boundary dimension and the target lane line information, wherein wheels can avoid a solid line of a target lane line when the vehicle drives according to the target lane changing track; judging whether the vehicle meets a lane changing condition according to the target lane changing track and the second driving information; and when the own vehicle