A method for controlling lane changing during automatic driving of a vehicle, comprising the following steps: providing a road environment model of a preset range nearby, wherein the road environment model comprises lane information, vehicle information and obstacle information within the preset range near the vehicle; obtaining vehicle information and obstacle information in front of the vehicle in a current lane of the vehicle according to the road environment model; determining whether to generate a lane-changing intention according to a speed of the vehicle, the vehicle information and the obstacle information in front of the vehicle in the current lane of the vehicle; obtaining vehicle information in an adjacent lane through the road environment model, if the lane-changing intention is generated; and controlling the vehicle to change to the adjacent lane at the current speed, if a speed of a nearest front vehicle in the adjacent lane is greater than a speed of a nearest front vehicle in the current lane and a difference between the speed of the nearest front vehicle in the adjacent lane and the speed of the nearest front vehicle in the current lane is greater than a first preset vehicle speed difference, a relative distance between the nearest front vehicle in the adjacent lane and the vehicle is greater than a first preset safety distance, and there is no vehicle at a side of the vehicle in the adjacent lane, an expected collision time between a nearest rear vehicle in the adjacent lane and the vehicle exceeds a first preset collision time when the vehicle changes to the adjacent lane, and a relative distance between the nearest rear vehicle in the adjacent lane and the vehicle is greater than a second preset safety distance, whereinthe step of determining whether to generate a lane-changing intention according to a speed of the vehicle, the vehicle information and the obstacle information in front of the vehicle in the current lane of the vehicle specifically comprises: obtaining the speed of the nearest front vehicle of the current lane, and a relative distance between the vehicle and the nearest front vehicle of the current lane, if there is a vehicle within the preset range in front of the vehicle in the current lane; obtaining a first lane-changing expectation factor according to the speed of the vehicle, the speed of the nearest front vehicle of the current lane and the relative distance between the vehicle and the nearest front vehicle of the current lane; and generating the lane-changing intention, if the first lane-changing expectation factor is less than a preset lane-changing expectation factor threshold, wherein the first lane-changing expectation factor is obtained by the following formula: β = K 1 * V _ auto / V _ trg + K 2 * Dis _ rely / K * V _ auto, wherein β is the first lane-changing expectation factor, V_auto is the speed of the vehicle, V_trg is the speed of the nearest front vehicle in the current lane, Dis_rely is the relative distance between the vehicle and the nearest front vehicle in the current lane, K is a preset time, K*V_auto is an expected safe driving distance of the current lane, K1 is a speed-related coefficient, K2 is a distance-related coefficient, K1 is greater than 0 and less than 1, K2 is greater than 0 and less than 1, and K1+K2=1. providing a road environment model of a preset range nearby, wherein the road environment model comprises lane information, vehicle information and obstacle information within the preset range near the vehicle; obtaining vehicle information and obstacle information in front of the vehicle in a current lane of the vehicle according to the road environment model; determining whether to generate a lane-changing intention according to a speed of the vehicle, the vehicle information and the obstacle information in front of the vehicle in the current lane of the vehicle; obtaining vehicle information in an adjacent lane through the road environment model, if the lane-changing intention is generated; and obtaining the speed of the nearest front vehicle of the current lane, and a relative distance between the vehicle and the nearest front vehicle of the current lane, if there is a vehicle within the preset range in front of the vehicle in the current lane; obtaining a first lane-changing expectation factor according to the speed of the vehicle, the speed of the nearest front vehicle of the current lane and the relative distance between the vehicle and the nearest front vehicle of the current lane; and generating the lane-changing intention, if the first lane-changing expectation factor is less than a preset lane-changing expectation factor threshold, wherein the first lane-changing expectation factor is obtained by the following formula: β = K 1 * V _ auto / V _ trg + K 2 * Dis _ rely / K * V _ auto, wherein β is the first lane-changing expectation factor, V_auto is the speed of the vehicle, V_trg is the speed of the nearest front vehicle in the current lane, Dis_rely is the relative distance between the vehicle and the nearest front vehicle in the current lane, K is a preset time, K*V_auto is an expected safe driving distance of the current lane, K1 is a speed-related coefficient, K2 is a distance-related coefficient, K1 is greater than 0 and less than 1, K2 is greater than 0 and less than 1, and K1+K2=1.