Abstract: This paper presents a new way to solve cross-country path planning problems for an autonomous land vehicle territory-formula based path planning methnod.Based on inherent distributing quality and property of terrain,a terrain separating method is introduced and a binary-tree representation of territory-formula planning space is discussed.On this basis,using a fabricated matrix to match and search binary-tree,we propose the way to define adjacent relation in territory-formula planning space,and describe a path searching algorithm which combines a heuristic search method with a probable search method.Territory-formula based path plan-ning method make it very effective to solve path planning problem in unconstructed environment.