You cannot do it in one column, unless you specify a BEFORE INSERT
trigger which would prefill it, leaving it wholly up to you to avoid any kind of race conditions the auto_increment handles on it's own. auto_increment can only be used on integer or floating-point columns.
In my opinion, 'requiring' the PK the have a specific format, and 'just having it auto increment' are mutually exclusive.
That doesn't mean you cannot 'fake' it on selects:
SELECT CONCAT('ABC1',LPAD(id,5,'0')) FROM tablename;
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