Aimed at the unstructured outdoor road environment, in order to solve the global and local path planning problems at the same time, a path planning fusion algorithm based on Floyd algorithm, A* algorithm and artificial potential field method was proposed. A*algorithm was used to plan feasible path. The optimal path was recursively obtained based on Floyd global optimal distance and weight data. Based on the improved artificial potential field method, the segmented force field combined with the adaptive angle function was designed to plan the obstacle avoidance path. Based on the cubic polynomial curve, the driving trajectory satisfying the dynamic constraints was obtained by fitting. MATLAB/Simulink was used for path planning simulation. The results show that the path planning fusion algorithm can be used to accurately plan the global detour path or the local obstacle avoidance path according to the front detection environment, and the single planning time is 1.14 ms and 45 ms respectively, which meets the realtime requirements. The real vehicle experiment results show that the simulation results are accurate, which proves the effectiveness and robustness of the real path planning fusion algorithm