Do I still have to go to the hospital now or just wait till I see or miss my period since I cannot take the Plan B because its too late.?

Morning after pill. If you are too late for the morning-after pill, then all there is to do is to wait. Get a pregnancy test in a couple of weeks.
Plan B. Is better if taken within 3 days, it has moderate efficacy if taken within 5 days. If you are not having symptoms (pain, fever, excessive bleeding) you may not need to go to er. If you miss menses, do home pregnancy test. If positive then see gyn. If negative then you are not pregnant. Keep period dairy. If in doubt see your doctor or gyn.