The present invention relates to an intersection passing method and system for autonomous driving vehicles. The method includes the following steps that: a relative position relationship between the current position of a vehicle and an intersection stop line, and the signal light information of an intersection where the vehicle is currently located are acquired; whether the vehicle enters a presetdeceleration area is judged according to the relative position relationship between the current position of the vehicle and the stop line; and on the basis of the signal light information, a signal light status is judged in real time in a process from a time point when the vehicle enters the preset deceleration area to a time point when the vehicle passes through a stop area, and a driving speedwhich should be adopted by the vehicle currently is decided according to the signal light status. The system includes a central control unit, an intersection signal light information obtaining unit, apositioning unit which is used for obtaining a relative position relation between a vehicle and an intersection stop line, and a longitudinal control unit which is used for executing a speed commandissued by the central control unit, wherein the intersection signal light information obtaining unit, the positioning unit and the longitudinal control unit are all connected with the central controlunit. The method and system are safe, reliable and highly operable.