Abstract: Various embodiments provide a driving scene understanding method and apparatus, and a track planning method and apparatus. In various embodiments, a stress driving behavior of a human driver is identified; a class of the identified stress driving behavior is determined; at least one target is determined according to the identified stress driving behavior, the class of the stress driving behavior and driving scene information corresponding to the stress driving behavior. In those embodiments, where the driving scene information includes at least one of the following: a reference track, an actual traveling track, static obstacle information, dynamic obstacle information, and road information. Driving scene understanding can be performed according to the determined at least one target.