A lane changing method for a driverless vehicle, comprising: determining (S 11) candidate lanes, to which a lane changing is to be performed, based on a travelling intention of a main vehicle; screening the candidate lanes based on lane changing conditions of the candidate lanes; selecting, from the screened candidate lanes, a target lane, to which the lane changing of the main vehicle is to be performed; determining whether the lane changing of the main vehicle from a current lane to the target lane is safe; and performing the lane changing, if the lane changing is determined to be safe, wherein the determining whether the lane changing of the main vehicle from the current lane to the target lane is safe comprises: performing a single frame trajectory determination according to an acquired single frame, wherein the single frame trajectory determination comprises: determining whether a distance between each obstacle on the target lane, to which the lane changing is to be performed, and the main vehicle is greater than a security distance; performing a multi-frame trend determination according to acquired multiple frames, wherein the multi-frame trend determination comprises: determining whether a distance between each obstacle on the target lane and the main vehicle is not reduced; and determining that the lane changing is safe, if the distance between each obstacle on the target lane and the main vehicle is greater than the security distance, and the distance between each obstacle on the target lane and the main vehicle is not reduced. determining (S 11) candidate lanes, to which a lane changing is to be performed, based on a travelling intention of a main vehicle; screening the candidate lanes based on lane changing conditions of the candidate lanes; selecting, from the screened candidate lanes, a target lane, to which the lane changing of the main vehicle is to be performed; determining whether the lane changing of the main vehicle from a current lane to the target lane is safe; and performing the lane changing, if the lane changing is determined to be safe, wherein the determining whether the lane changing of the main vehicle from the current lane to the target lane is safe comprises: performing a single frame trajectory determination according to an acquired single frame, wherein the single frame trajectory determination comprises: determining whether a distance between each obstacle on the target lane, to which the lane changing is to be performed, and the main vehicle is greater than a security distance; performing a multi-frame trend determination according to acquired multiple frames, wherein the multi-frame trend determination comprises: determining whether a distance between each obstacle on the target lane and the main vehicle is not reduced; and determining that the lane changing is safe, if the distance between each obstacle on the target lane and the main vehicle is greater than the security distance, and the distance between each obstacle on the target lane and the main vehicle is not reduced. performing a single frame trajectory determination according to an acquired single frame, wherein the single frame trajectory determination comprises: determining whether a distance between each obstacle on the target lane, to which the lane changing is to be performed, and the main vehicle is greater than a security distance; performing a multi-frame trend determination according to acquired multiple frames, wherein the multi-frame trend determination comprises: determining whether a distance between each obstacle on the target lane and the main vehicle is not reduced; and determining that the lane changing is safe, if the distance between each obstacle on the target lane and the main vehicle is greater than the security distance, and the distance between each obstacle on the target lane and the main vehicle is not reduced.