The invention belongs to the technical field of obstacle avoidance, and discloses an autonomous obstacle avoidance method for a vehicle and an autonomous obstacle avoidance system for the vehicle. Themethod comprises the following steps: S1, obtaining message information of a plurality of detected obstacles, and determining an obstacle needing obstacle avoidance; S2, calculating the minimum braking time between the vehicle and the obstacle needing obstacle avoidance; S3, judging whether the minimum braking time is within preset deceleration setting time or not, if not, executing a step S4, and if yes, executing a step S5; S4, keeping the current set vehicle speed of the vehicle; S5, judging whether the driving direction of the obstacle needing obstacle avoidance is consistent with the driving direction of the vehicle, if yes, executing a step S6, if not, executing a step S7; S6, setting the longitudinal speed of the obstacle needing obstacle avoidance as the set vehicle speed of the vehicle; S7, setting the set vehicle speed of the vehicle to be zero; and S8, calculating and adjusting the displacements of a hydraulic pump and a hydraulic motor according to the set vehicle speed ofthe vehicle so as to adjust the actual vehicle speed of the vehicle. An additional obstacle avoidance component is not required, so that the cost is saved.