Lane changing track planning method and related device

The invention provides a lane changing trajectory planning method and a related device, and relates to the technical field of intelligent driving. The lane changing track planning method can comprise the following steps: under the condition that a vehicle has a lane changing demand, determining candidate lanes on which the vehicle can execute lane changing operation; obtaining a plurality of candidate primitives corresponding to the self lane and the candidate lane in the future N continuous time windows; determining a communication relationship between the candidate primitives in adjacent time windows according to a longitudinal position range included by the candidate primitives; and according to the candidate primitives with the communication relation, lane changing trajectory planning is carried out. According to the technical scheme, the problem that in the prior art, the lane changing mode of an intelligent driving vehicle is low in safety can be solved. 本申请提出一种换道轨迹规划方法及相关装置，涉及智能驾驶技术领域。该换道轨迹规划方法可以包括：在车辆