The invention discloses a method of underground scooptram autonomous travel, obstacle avoidance motion control and target path planning. Firstly a main target path is planned according to underground tunnel conditions. Then a local obstacle avoidance target path which is attached on the main target path is planned, main target path data, an initial point, a termination point and offset distance data relative to the main target path of the local obstacle avoidance target path are stored in a scooptram controller. A transverse position deviation, a course angle deviation and a course angle deviation change rate are calculated through measuring data of a measuring system or a track prediction model, the three deviations form comprehensive deviation feedback signals through a fusion rule, the comprehensive deviation feedback signals serve as the input quantity of proportion integration differentiation (PID) corrective control, a control command is input to an electric-hydraulic proportional steering control system of the scooptram, a vehicle is driven to steer and track the target path, underground scooptram autonomous navigation and the obstacle avoidance motion control are achieved, and the method is convenient to use, flexible and reliable.