The rapid development of autonomous driving technology has brought emerging opportunities to optimize the omnidirectional vehicle driving performance. However, its compliance with driving habits directly determines its social acceptance. Therefore, how to balance consistency between performance improvement and driving habits has become an important bottleneck restricting the rapid promotion of autonomous driving technology. Manual driving vehicles mostly focus on the safety of both longitudinal and lateral movements, and cannot cope with the vertical movement, let alone the performance of economy, comfort, and efficiency. In this context, this paper proposes an anthropomorphic trajectory optimization method incorporating vehicle omnidirectional dynamic characteristics and corresponding driving habits. Firstly, this paper explores vehicle dynamic characteristics in longitudinal, lateral, and vertical directions, and reveals the coupling effect of motion states during driving. Furthermore, the featured function of anthropomorphic driving is constructed by the driving habit patterns related to the accelerator pedal, deceleration pedal, and steering wheel. Then, a comprehensive trajectory optimization method that considers safety, economy, comfort, and efficiency is constructed to improve the driving performance while ensuring social acceptance. Finally, the sensitivity of method weights and the adaptability toward the real world are verified by the case studies and discussions. The results indicate that the proposed method can fully utilize the optimization potential of autonomous driving technology in the omnidirectional performance, and effectively assist the intelligent and automated development of road traffic systems.