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Lane changing manoeuvers is an essential rudiment in vehicle driving and has a significant impact on the characteristics of traffic flow. In the case of traditional cars, the driver operates the vehicle to complete the lane change whilst for autonomous vehicles, completing the lane change requires planning the lane change trajectory and controlling the vehicle speed during the lane change. Unreasonable lane change trajectory and vehicle speed may cause the vehicle to lose stability, threaten driving safety, increase energy consumption and waste energy. This paper considers the safety and economy of the lane changing process, and proposes a new lane changing method for vehicles.