The invention discloses a collaborative turning track self-planning system and method for a multi-body auxiliary transportation system, which belong to the technical field of mining equipment. The system comprises a mining flat car which comprises a front car, a rear car and a connecting rod, and the front car is connected with the rear car through the connecting rod. The system also comprises an image acquisition module and a control module, wherein the image acquisition module is arranged at the top of the front end of the front car and is used for acquiring and transmitting the information of the environment in front of the mining flat car; and the control module is arranged on the mining flat car, receives the information transmitted by the image acquisition module, processes the information to generate a target trajectory, and controls the direction of the mining flat car according to the target trajectory. According to the method, the image acquisition module is matched with the control module to acquire and analyze the front curve information when the mining flat car advances, so that the target trajectory is planned to control the mining flat car to run according to the trajectory, and the cost and danger coefficient of manual turning in a traditional mode are reduced; and in combination with the method disclosed in the invention, the turning stability and adaptability of the mining flat car are improved.