With the development of science and technology, the intelligence of society is getting higher and higher. The development of safe and reliable intelligent driving has become one of the important topics in today’s era. As a high-tech complex integrating environmental awareness, planning decision-making, control execution and information interaction, driverless cars are increasingly becoming the needs of the times.[1] How to accurately extract effective information to provide safe and reliable control instructions for the next decision-making of vehicles in complex multi-source and heterogeneous environment is the technical basis of intelligent driving. In this paper, a certain amount of research has been done on lane change trajectory planning in different environments. In the aspect of static driving environment, a lane-changing trajectory planning method based on the fifth-order Bessel curve is planned. The physical problems are transformed into optimization problems of coordinate points of Bessel curve expression by planning the left and right boundaries of feasible region through lane-changing trajectory. [2]In the aspect of dynamic driving, based on the model predictive control theory, a lane-changing trajectory optimization method for multi-lane and multi-surrounding vehicles is proposed.