A method for recognizing a vehicle lane change trend, the method comprising: obtaining, in a plurality of consecutive detection periods, a plurality of obtained first distance relationship values and a plurality of obtained second distance relationship values, wherein each first distance relationship value is obtained by, based on a respective detection period of said plurality of consecutive detection periods: obtaining laser point cloud data of a detected target vehicle, wherein the target vehicle is a vehicle traveling in a scene around the current vehicle; obtaining, based on the laser point cloud data, a first distance relationship value between a center line of a lane in which the current vehicle is located and the target vehicle; wherein each second distance relationship value is obtained by, based on a respective detection period of said plurality of consecutive detection periods: obtaining a scene image comprising the target vehicle; obtaining, based on the scene image, a second distance relationship value between the center line of the lane in which the current vehicle is located and the target vehicle; calculating a first confidence of said plurality of obtained first distance relationship values and a second confidence of said plurality of obtained second distance relationship values; calculating a plurality of fusion distance relationship values of the plurality of first distance relationship values and the plurality of second distance relationship values based on the first confidence and the second confidence; and determining, based on a time-varying relationship of the plurality of fusion distance relationship values, whether the target vehicle has a lane change trend. obtaining, in a plurality of consecutive detection periods, a plurality of obtained first distance relationship values and a plurality of obtained second distance relationship values, wherein each first distance relationship value is obtained by, based on a respective detection period of said plurality of consecutive detection periods: obtaining laser point cloud data of a detected target vehicle, wherein the target vehicle is a vehicle traveling in a scene around the current vehicle; obtaining, based on the laser point cloud data, a first distance relationship value between a center line of a lane in which the current vehicle is located and the target vehicle; wherein each second distance relationship value is obtained by, based on a respective detection period of said plurality of consecutive detection periods: obtaining a scene image comprising the target vehicle; obtaining, based on the scene image, a second distance relationship value between the center line of the lane in which the current vehicle is located and the target vehicle; calculating a first confidence of said plurality of obtained first distance relationship values and a second confidence of said plurality of obtained second distance relationship values; calculating a plurality of fusion distance relationship values of the plurality of first distance relationship values and the plurality of second distance relationship values based on the first confidence and the second confidence; and determining, based on a time-varying relationship of the plurality of fusion distance relationship values, whether the target vehicle has a lane change trend. obtaining laser point cloud data of a detected target vehicle, wherein the target vehicle is a vehicle traveling in a scene around the current vehicle; obtaining, based on the laser point cloud data, a first distance relationship value between a center line of a lane in which the current vehicle is located and the target vehicle; wherein each second distance relationship value is obtained by, based on a respective detection period of said plurality of consecutive detection periods: obtaining a scene image comprising the target vehicle; obtaining, based on the scene image, a second distance relationship value between the center line of the lane in which the current vehicle is located and the target vehicle; calculating a first confidence of said plurality of obtained first distance relationship values and a second confidence of said plurality of obtained second distance relationship values; calculating a plurality of fusion distance relationship values of the plurality of first distance relationship values and the plurality of second distance relationship values based on the first confidence and the second confidence; and determining, based on a time-varying relationship of the plurality of fusion distance relationship values, whether the target vehicle has a lane change trend. obtaining a scene image comprising the target vehicle; obtaining, based on the scene image, a second distance relationship value between the center line of the lane in which the current vehicle is located and the target vehicle; calculating a first confidence of said plurality of obtained first distance relationship values and a second confidence of said plurality of obtained second distance relationship values; calculating a plurality of fusion distance relationship values of the plurality of first distance relationship values and the plurality of second distance relationship values based on the first confidence and the second confidence; and determining, based on a time-varying relationship of the plurality of fusion distance relationship values, whether the target vehicle has a lane change trend.