Embodiments of the present disclosure disclose a method and an apparatus for controlling a mobile robot. A specific embodiment of the method comprises: generating pedestrian assessment information based on perception information of the mobile robot, wherein the pedestrian assessment information includes a pedestrian intent type and a pedestrian event type of the nearby pedestrian; then, generating pedestrian behavior information based on the perception information and the pedestrian assessment information, wherein the pedestrian behavior information includes a predicted position information sequence and a predicted behavior type sequence of the nearby pedestrian in a preset future time period; next, generating information for control use based on the perception information, the pedestrian assessment information and the pedestrian behavior information; finally, and controlling the mobile robot based on the information for control use. This embodiment improves a social acceptance of the mobile robot.