The invention provides an automatic lane changing control method and device and a vehicle with the device. The automatic lane changing control method comprises the steps of determining a target lane,and judging whether the current vehicle has a safe lane changing space or not according to the target lane; controlling the current vehicle to deflect to the target lane until the axis of the currentvehicle deflects a target angle relative to a target track; controlling the current vehicle to drive to the target lane at the current speed until the distance between the gravity center of the current vehicle and the target track is smaller than a first threshold; controlling the current vehicle to deflect to the direction of an original lane until the axis of the current vehicle is parallel to the target track. The control method is simple and easy to implement, and by means of an existing device, smooth, accurate and safe lane changing control can be achieved.