The paper intends to resolve contradic-tions between heter-organization character of urban planning and self-organization nature of urban spa-tial system in the view of epistemology. For this, firstly, the paper explains the coupling point which implies cognitive logic of the unity of opposites about urban planning and spatial self-organization. Then, based on the philosophical summary of self-organi-zation theories, the paper expounds the evolution picture of urban spatial self-organization which is covering urban planning.