An autonomous vehicle or auxiliary driving system route planning system belongs to the moving target tracking processing field. In order to solve a problem that an autonomous vehicle or an auxiliary driving system considers non-dangerous pedestrians in route planning, multiple instructions are stored. The instructions are loaded and are executed by a processor. The instructions are characterized by classifying the pedestrians according to the magnetic force relations of the pedestrians in front of the vehicle; and based on the classification of the pedestrians in front of the vehicle, planninga route. In the scheme of the invention, the classification is performed according to the magnetic force relations of the pedestrians, and the route is planned according to the classification so thatan automatic driving route has safety and comprehensiveness; and the route is determined through classification so that route selection is clear.