SELF-DRIVING METHOD AND RELATED DEVICE

An autonomous driving method and a related device are provided. The autonomous driving method includes: determining, based on a first traveling track currently planned by a first vehicle, a traveling track set corresponding to the first traveling track; determining an intersection track segment on each second traveling track in the traveling track set; separately determining, based on current speeds and current locations that correspond to N second vehicles, intersection times at which the N second vehicles arrive at the intersection track segment; and determining a speed of the first vehicle based on the intersection track segment on each second traveling track in the traveling track set and the corresponding intersection time. This can effectively ensure that an autonomous vehicle can safely and efficiently pass through an intersection.