METHOD AND APPARATUS FOR PLANNING IN AN AUTONOMOUS VEHICLE, ELECTRONIC DEVICE AND STORAGE MEDIUM

The present application provides a method and apparatus for planning an autonomous vehicle, an electronic device and a storage medium, which relates to the field of autonomous driving. According to the technical solutions of the present application, time points of entering a vehicle-converging area can be accurately predicted according to traveling conditions of two parties, so that a driving behavior of the autonomous vehicle is controlled more accurately. The specific implementation is as follows: acquiring first traveling information of an autonomous vehicle, where the first traveling information includes a traveling track and a traveling parameter of the autonomous vehicle; acquiring second traveling information of at least one obstacle vehicle, where the second traveling information includes position information and a traveling parameter of the obstacle vehicle; predicting a driving intention of the obstacle vehicle according to the acquired second traveling information of the obstacle vehicle; planning a vehicle-converging strategy for the autonomous vehicle according to the first traveling information and the driving intention of the obstacle vehicle; and controlling the autonomous vehicle to travel according to the vehicle-converging strategy.