The invention relates to a fast and complete automatic driving trajectory planning method. The method comprises the steps that 1) a basic path is planned; 2) collision detection is carried out on thebasic driving path, and step 3) is carried out; if collision does not exist, whether the basic driving path reaches a target point is determined; if so, step 4) is carried out; if not, step 3) is carried out; 3) after a sampling / search path planning method is used to acquire a smooth effective path, step 4) is carried out; 4) after a curvature extreme value corresponding to the path is acquired, segmentation velocity is planned to acquire a trajectory; and 5) collision detection is carried out on the trajectory in time domain and spatial domain; if collision exists, whether the distance between a vehicle and an obstacle is greater than 2 times the minimum braking distance; if so, velocity re-planning and returning to step 4) are carried out; if not, returning to step 1) is carried out; finally the path and velocity are combined to generate a trajectory and output the trajectory. Compared with the prior art, the method provided by the invention has the advantages of trajectory planninginstantaneity improvement, stability, reliability and the like.