Automatic driving pedestrian crossing passing method, device and equipment and storage medium

The invention discloses an automatic driving pedestrian crossing passing method, device and equipment and a storage medium, and the method comprises the steps: obtaining the map data of a pedestrian crossing when the pedestrian crossing is detected in front of an automatic driving vehicle, and obtaining the visual images of the surrounding environment and the pedestrian crossing; determining a pedestrian crossing detection range according to the map data and the visual image; according to the method, the current traffic light information is obtained, whether the automatic driving vehicle can pass through the pedestrian crosswalk is judged within the pedestrian crosswalk detection range according to the current traffic light information, and the vehicle control instruction is determined according to the judgment result, so that the sensing and judgment capability of the automatic driving vehicle on the pedestrian crosswalk can be enhanced; the traffic safety of the pedestrian crosswalk is improved; the percept