Abstract: This paper presents the design and implementation of cross-country path planning for an autonomous land vehicle based on a heuristic search method. This path planning consists of two searches by using heuristic evaluation functions. The first is a territory-formula search in territory-formula planning space which is a terrain separating based on inherent distributing quality and property of terrain. This searching path is rough. The second is a grid search in grid planning space for getting the minute sitepath. The best node is the smallest cost one expanded in three directions.