<p>Vehicle lane changing trajectory planning has emerged as one of the essential technologies to achieve safe and effective driving due to the quick development of intelligent driving technology. The study examines the use of the lane change real-time polynomial algorithm (LCRTPA), which is based on fifth-degree polynomials, in actual automobiles in order to increase the process’s safety and effectiveness as well as guarantee that the car can change lanes swiftly and smoothly. The study generates smooth and vehicle dynamics constrained lane change trajectories by constructing a fifth-degree polynomial model, and carries out lane changing speed planning based on dynamic programming algorithm. The results showed that the research method achieved 0.95 in terms of trajectory smoothness, and 99.58% and 89.26% in terms of safety and energy efficiency, respectively. The lane change time was only 3.9s, and the deviation of the trajectory from the lane was only 0.4&#xa0;m. Meanwhile, the longitudinal speed change error was 0.42%, and the response time was 0.15s. In summary, in real-life lane changing trajectory planning, the fifth-degree polynomial-based LCRTPA greatly enhances vehicle comfort and safety during lane changes, offering a solid foundation for the advancement of intelligent driving technologies.</p>