The invention provides a road junction driving method and device for a vehicle and a terminal. The method comprises the steps of obtaining road information and the state of traffic lights; according to the road information, determining first stopping lines and second stopping lines of various road junctions, wherein the first stopping lines are stopping lines which are actually marked on the roadsurfaces of the road junctions, and the second stopping lines are virtual stopping lines in cross overlapping areas of the road junctions; according to the position of the vehicle, the first stoppinglines, the second stopping lines and the state of the traffic lights, generating a driving decision; according to the driving decision, controlling the vehicle to move. The problem that traffic is stuck by the vehicle at an intersection is effectively avoided, and the vehicle is prevented from colliding with other vehicles and pedestrians at the road junctions.