Control Method and Apparatus, and Intelligent Driving Device

A control method includes controlling an intelligent driving device to travel along a first planned route (planned using a first mode); and controlling the device to switch to a second planned route (planned using a different second mode) when a first obstacle in the first planned route causes a passable width corresponding to a first area to be less than or equal to a first preset threshold, and/or when the first obstacle causes a curvature of a feasible route in the first area to be greater than or equal to a second preset threshold; the first planned route passes through the first area.