In order to ensure that the intelligent vehicle can run safely according to the planned path and meet the vehicle dynamics characteristics, and solve the unnecessary search problems caused by the lack of guidance strategy in the hybrid A* algorithm, a probabilistic A* algorithm is proposed to obtain the search rough path firstly, which improves the search efficiency in the subsequent search process. Secondly the path points obtained by the probabilistic A* algorithm are used to guide the search direction to avoid colliding with obstacles. Finally, optimize the cost function of nodes. Simulation results show that, compared with the hybrid A* algorithm, the proposed algorithm reduces the search time by 10.8% on average, and the resulting path is relatively regular and smooth. The algorithm can plan a safe, feasible and smooth path for intelligent vehicles in a short time.