Lane changing control method, device and equipment of vehicle and storage medium

The invention discloses a vehicle lane changing control method, device and equipment and a storage medium, and relates to the technical field of vehicle lane changing control, and the method comprises the steps: obtaining the transverse deviation and yaw velocity error of a vehicle planning path and an actual path; obtaining an expected yaw moment based on the lateral deviation and the yaw velocity error; obtaining constraint conditions of tire force distribution; obtaining a wheel longitudinal force distribution parameter and a wheel lateral force distribution parameter based on the expected yaw moment and a constraint condition of tire force distribution; and controlling the vehicle to change lanes through the wheel longitudinal force distribution parameters and the wheel lateral force distribution parameters. On the basis of keeping a vehicle planning path and improving vehicle maneuverability and lateral stability at the same time, a tire force distribution method based on a weighted pseudo-inverse optima