The invention provides a control method and device of vehicle lane changing and a computer storage medium. The method of one embodiment comprises the following steps of selecting a target lane and obtaining a lane center line of the target lane; determining a preview distance and a preview included angle according to current speed of a vehicle, and determining a current preview point according to the preview distance and the preview included angle; determining lateral deviation and heading angle deviation according to the current preview point and current vehicle heading; outputting a steering wheel rotating-angle request to a steering controller according to the lateral deviation and the heading angle deviation; and when an update condition of the preview point is met, returning to the step of determining the preview distance and the preview included angle according to the current speed of the vehicle and determining the current preview point according to the preview distance and the preview included angle until the determined current preview point is in the preset distance range of the lane center line of the target lane. According to the scheme of the embodiment, the safety of vehicles such as an automobile in the process of automatic lane changing is improved.