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Résumé : Path planning is a challenging task for autonomous driving in a dynamically changing environment. The planned path should be collision-free with surrounding obstacles in the environment, while also smooth enough for the benefits of smooth path following and passenger comfort. This chapter begins with a detailed review of the literature on collision-free path planning methods available in the literature. It explores the different approaches ranging from the elastic band method, the quintic spline with minimum curvature variation method, to the model-based trajectory planning method. The chapter demonstrates the performance of model-based trajectory planning method on a low friction road, combined with the road friction coefficient estimation module, and evaluates different complex driving scenarios with multiple objects. It ends with a discussion and comparison of the different methods introduced, followed by conclusions.