An automatic lane-changing method for a vehicle, comprising: receiving a lane-changing request when the vehicle is in an automated driving state, the lane-changing request being provided with lane-changing direction information; predicting, according to the lane-changing direction information, captured images in front of the vehicle and a current velocity of the vehicle, a motion state of the vehicle when arriving at a lane-changing destination; characterized in that planning a lane-changing path and a velocity for the vehicle at an i-th time, wherein i is an integer greater than or equal to 0, the lane-changing path and the velocity at the i-th time are planned and acquired by taking the motion state of the vehicle at the i-th time as an initial motion state and taking the predicted motion state as a target motion state; determining a steering angle of the vehicle at the i-th time according to a curvature of the lane-changing path at the i-th time, the velocity of the vehicle at the i-th time and a constructed model configured for determining the steering angle, comprising: substituting the curvature of the lane-changing path at the i-th time represented by U, and the velocity of the vehicle at the i-th time represented by v into the following formula: δ h = U ⋅ 1 + K ⋅ v 2 ⋅ L ⋅ i s; where L represents a distance between a front axle and a rear axle of the vehicle, i s represents a steering ratio of the vehicle, and K represents a preset stability factor; and obtaining the steering angle at the i-th time represented by δ h; judging whether the steering angle of the vehicle at the i-th time falls in an effective steering angle range, wherein the effective steering angle range is determined based on the beginning and the destination of the lane-changing path; when it is judged not, returning to the step of planning a lane-changing path and a velocity for the vehicle at an i-th time; and when it is judged yes, determining the motion state of the vehicle at an (i+1)-th time, according to a vehicle motion model, the motion state of the vehicle at the i-th time, and the steering angle of the vehicle at the i-th time; and judging whether a difference between the target motion state and the motion state of the vehicle at the (i+1)-th time is larger than a preset error; when it is judged yes, updating i to i+1 and returning to the step of planning a lane-changing path and a velocity for the vehicle at an i-th time; and when it is judged not, driving the vehicle to change lanes according to the planned lane-changing path and velocity at any time. receiving a lane-changing request when the vehicle is in an automated driving state, the lane-changing request being provided with lane-changing direction information; predicting, according to the lane-changing direction information, captured images in front of the vehicle and a current velocity of the vehicle, a motion state of the vehicle when arriving at a lane-changing destination; characterized in that planning a lane-changing path and a velocity for the vehicle at an i-th time, wherein i is an integer greater than or equal to 0, the lane-changing path and the velocity at the i-th time are planned and acquired by taking the motion state of the vehicle at the i-th time as an initial motion state and taking the predicted motion state as a target motion state; determining a steering angle of the vehicle at the i-th time according to a curvature of the lane-changing path at the i-th time, the velocity of the vehicle at the i-th time and a constructed model configured for determining the steering angle, comprising: substituting the curvature of the lane-changing path at the i-th time represented by U, and the velocity of the vehicle at the i-th time represented by v into the following formula: δ h = U ⋅ 1 + K ⋅ v 2 ⋅ L ⋅ i s; where L represents a distance between a front axle and a rear axle of the vehicle, i s represents a steering ratio of the vehicle, and K represents a preset stability factor; and obtaining the steering angle at the i-th time represented by δ h; substituting the curvature of the lane-changing path at the i-th time represented by U, and the velocity of the vehicle at the i-th time represented by v into the following formula: δ h = U ⋅ 1 + K ⋅ v 2 ⋅ L ⋅ i s; where L represents a distance between a front axle and a rear axle of the vehicle, i s represents a steering ratio of the vehicle, and K represents a preset stability factor; and obtaining the steering angle at the i-th time represented by δ h; judging whether the steering angle of the vehicle at the i-th time falls in an effective steering angle range, wherein the effective steering angle range is determined based on the beginning and the destination of the lane-changing path; when it is judged not, returning to the step of planning a lane-changing path and a velocity for the vehicle at an i-th time; and when it is judged yes, determining the motion state of the vehicle at an (i+1)-th time, according to a vehicle motion model, the motion state of the vehicle at the i-th time, and the steering angle of the vehicle at the i-th time; and judging whether a difference between the target motion state and the motion state of the vehicle at the (i+1)-th time is larger than a preset error; when it is judged yes, updating i to i+1 and returning to the step of planning a lane-changing path and a velocity for the vehicle at an i-th time; and when it is judged not, driving the vehicle to change lanes according to the planned lane-changing path and velocity at any time.