Vehicle lane changing trajectory stitching method and device and domain controller

The invention relates to a vehicle lane changing track stitching method and device and a domain controller. The method comprises the steps that firstly, the current state of a vehicle, real-time road condition information and an initial lane changing track are obtained, then whether replanning is needed or not is judged according to the current state of the vehicle, the real-time road condition information and the initial lane changing track, finally, if replanning is needed, replanning parameters are determined based on initial lane changing track parameters, and the replanning parameters are determined according to the initial lane changing track parameters. And a re-planning lane changing track is determined based on the re-planning parameters. That is to say, in the vehicle driving process, by judging the performability of the vehicle lane changing track, when the initial lane changing track cannot be executed according to the plan, relevant information of the initial lane changing track ending moment is