A vehicle charging planning method includes obtaining charging requests from a plurality of target vehicles, obtaining at least two apparatus transporters with fully charged mobile charging apparatuses, in response to a number of the target vehicles being greater than a number of fully charged mobile charging apparatuses in each apparatus transporter, determining whether driving paths of the at least two apparatus transporters to positions of the target vehicles have an overlapping position, in response to the driving paths having the overlapping position, exchanging the mobile charging apparatuses of the at least two apparatus transporters at the overlapping position and determining a target apparatus transporter, and instructing the target transporter to travel to positions of the target vehicles and providing charging services to the target vehicles using the mobile charging apparatuses on the target apparatus transporter.