The invention discloses an intelligent driving vehicle environment adaptive merging method under an urban environment. The method comprises steps: an initial state vector is extracted; an action variable is calculated according to a greedy strategy, a merging scene is updated while a merging action is executed, if the action variable adopts a random action, a merging gap and a merging action are selected with a uniform probability, if an intelligent method is adopted, candidate gaps comprise a front vehicle, a following vehicle and a merging vehicle, the maximum action value functions of all candidate gaps are compared, the maximum value function is selected, the gap and the action corresponding to the maximum value are picked out, and a target merging gap and an intelligent merging actionare returned; the state vector at a next moment is sensed; a reward value is calculated according to the environmental feedback information; the initial state vector, the action variable, the state vector at the next moment and the reward value are saved to a sample set, and after enough samples are obtained, evaluation and improvement are carried out according to an LSQ method; and the above steps are repeated until merging succeeds. The sample set and the learning time are lower than a Q learning algorithm, and the success rate is high.