The invention discloses a trend-aware robot trajectory planning method in a dynamic environment. The method comprises the following steps of: cutting, discretizing and timing a path planned by a global path planner to change the path into a discrete initial trajectory, and awaring and estimating the speed of a dynamic obstacle to predict the motion trajectory of the dynamic obstacle; then constructing trend trajectories of the robot and the dynamic obstacle according to the initial trajectory of the robot and the motion trajectory of the dynamic obstacle, and constructing constraint conditionsthrough the intersection and overlapping degree of the trend trajectories of the robot and the dynamic obstacle; and finally, mapping the constructed constraint conditions to a hypergraph, convertingthe hypergraph into an unconstrained least square optimization problem with constraint approximation, solving the problem, and optimizing the robot trajectory. Obstacle trend constraints are introduced, the collision probability of the robot and the dynamic obstacle can be effectively reduced, the track generation stability is improved, and a safe and reliable robot motion track is provided for automatic driving, social services and other scenes.