The invention provides an unmanned vehicle track real-time planning method based on road structure weight fusion, which is suitable for intelligent track planning of an unmanned vehicle in an autonomous driving process. The technical scheme adopted by the invention comprises the following steps: 1. simplifying the calculation of a vehicle motion equation by a table lookup mode; 2. adopting a structured and unstructured environment weighting method based on breadth-first search; 3. conducting a dynamic target area decision; 4. adopting an improved A* path search algorithm fused with vehicle dynamics; and 5. conducting an incremental track planning of a dynamic scene. The unmanned vehicle track planning problems under various environments are unified by using a structured and unstructured environment weighting method; the continuity and the stability of the track are realized by utilizing the incremental track planning of a dynamic scene, and the running stability of the unmanned vehicleat low, medium and high speeds is ensured; and a vehicle motion equation and a collision detection process are simplified and approximated, the efficiency of a track planning algorithm is effectivelyenhanced by avoiding floating point operation, the track planning algorithm is enabled to achieve nearing real time, and the correctness of track planning is guaranteed.