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This paper presents the different influence factors to vehicle's path planning, including the guide-potential shape and its parameters, the guild-potential influence scale factor, the stiffness of the elastic bands and the speed of the host vehicle. The assessment of emergency path is based on the dynamic performance of the host vehicle, the lateral acceleration and yaw rate, and its mean-square values accesses the stability of the host vehicle when following the path. In order to take evasion maneuvers more steadily, a guide-potential affecting the moving vehicles behind the obstacle is built, which encourages the host vehicle to change lane appropriately. Three different shape guide-potential models, namely half-circle-like, half-ellipse-like and parabola-like, are proposed and compared in this paper. Meanwhile, hazard map of the road environment which includes the lanes, borders and obstacles is generated.