Local path planning is to analyze the current driving environment based on the feedback information of each sensor in the process of vehicle driving, and formulate the most reasonable driving route according to the information. Local path planning is formulated according to the specific road conditions, which belongs to the dynamic planning scope, such as the shape of obstacles. Road width and other information are very important indicators in local path planning system, and also an important guarantee to ensure that vehicles can run completely. The division of labor between global planning and local planning is clear, and their purposes are highly complementary. Both of these two aspects should be studied continuously.