The inventor provides a vehicle motion planning method and an unmanned vehicle, and relates to the field of unmanned vehicles, and especially relates to an unmanned vehicle motion planning. The method comprises: according to n travelling paths, updating probability distribution of an experienced region, in a vehicle motion process, according to the updated probability distribution of the experienced region, combined with probability of vehicle state conversion, calculating probability to transfer to an adjacent grid; according to the probability to transfer to the adjacent grid, expanding a random tree, and doing collision detection, if the vehicle passes the collision detection, using the corresponding grid to expand the random tree, and updating a current state; until all grids have been tried and the vehicle cannot pass the collision detection, or the vehicle has reached an objective grid. In the method, n actual paths are converted to probability to represent, and are applied in the path planning method, and according to the state information of the vehicle, the probability to transfer to the corresponding grid is calculated, so a motion planning module makes full use of the experiential knowledge to improve search efficiency.