The invention provides a path planning method. The method includes the following steps: a reference path is obtained; when a first obstacle exists in a circle whose diameter is the distance between astarting point and a first end point, a first distance is determined; a first parent circle and a first end point circle are set respectively by using the starting point and the first distance as theradius; a second parent circle is determined from a child circle of the first parent circle; when a degree of coincidence of an mth parent circle and the first end circle is greater than a preset first threshold, a first list and a second list are generated; at a current moment, a first parameter of a vehicle is obtained, and accordingly a second parameter of the next moment is calculated, therebydetermining a first trajectory set; the first trajectory set is processed according to the first list and the second list; a trajectory in the processed first trajectory set is evaluated by a heuristic value function to determine a first target trajectory; and when the difference between the distance of an end point of an nth target trajectory and the end point is less than a preset second threshold, a target path is generated. Therefore, rationality and real-time performance of a path are guaranteed.