A method for planning a travelling path, comprising: determining at least one reference curve covering a first length range, and selecting a target reference curve covering the first length range from the at least one reference curve covering the first length range, wherein the target reference curve is a curve which is used for avoiding any obstacle within the first length range; extracting a curve to be adjusted covering a second length range from the target reference curve covering the first length range, wherein the second length range is smaller than the first length range and the second length range has a same starting point as the first length range; processing (103, 1032) the curve to be adjusted based on a safety parameter within the second length range, to obtain an adjusted curve; and determining a travelling path covering the first length range based on the adjusted curve and the target reference curve; wherein the processing the curve to be adjusted based on the safety parameter within the second length range, to obtain the adjusted curve comprises: determining the safety parameter within the second length range based on a vehicle parameter and an environmental parameter within the second length range; wherein in a quadratic planning, the curve to be adjusted is represented by a polynomial function l = f (w, s) in a Frenet Frame coordinate system, wherein w is a polynomial coefficient; x=w is set, and the quadratic planning is performed by following two calculations: minimize J x = x T H x; subject to Ax ≤ b; wherein a quality and a score of the curve are calculated by J, minimize means to select an J value with a lowest cost, and x represents a curve parameter; H is a preset parameter, b is a safety parameter, and A is a distance from a static or dynamic object to the curve to be adjusted; the x obtained through the above calculations is an adjustment result, and the adjusted curve after adjustment is obtained by bringing the x into l = f(w, s). determining at least one reference curve covering a first length range, and selecting a target reference curve covering the first length range from the at least one reference curve covering the first length range, wherein the target reference curve is a curve which is used for avoiding any obstacle within the first length range; extracting a curve to be adjusted covering a second length range from the target reference curve covering the first length range, wherein the second length range is smaller than the first length range and the second length range has a same starting point as the first length range; processing (103, 1032) the curve to be adjusted based on a safety parameter within the second length range, to obtain an adjusted curve; and determining a travelling path covering the first length range based on the adjusted curve and the target reference curve; wherein the processing the curve to be adjusted based on the safety parameter within the second length range, to obtain the adjusted curve comprises: determining the safety parameter within the second length range based on a vehicle parameter and an environmental parameter within the second length range; wherein in a quadratic planning, the curve to be adjusted is represented by a polynomial function l = f (w, s) in a Frenet Frame coordinate system, wherein w is a polynomial coefficient; x=w is set, and the quadratic planning is performed by following two calculations: minimize J x = x T H x; subject to Ax ≤ b; wherein a quality and a score of the curve are calculated by J, minimize means to select an J value with a lowest cost, and x represents a curve parameter; H is a preset parameter, b is a safety parameter, and A is a distance from a static or dynamic object to the curve to be adjusted; the x obtained through the above calculations is an adjustment result, and the adjusted curve after adjustment is obtained by bringing the x into l = f(w, s). determining the safety parameter within the second length range based on a vehicle parameter and an environmental parameter within the second length range; wherein in a quadratic planning, the curve to be adjusted is represented by a polynomial function l = f (w, s) in a Frenet Frame coordinate system, wherein w is a polynomial coefficient; x=w is set, and the quadratic planning is performed by following two calculations: minimize J x = x T H x; subject to Ax ≤ b; wherein a quality and a score of the curve are calculated by J, minimize means to select an J value with a lowest cost, and x represents a curve parameter; H is a preset parameter, b is a safety parameter, and A is a distance from a static or dynamic object to the curve to be adjusted; the x obtained through the above calculations is an adjustment result, and the adjusted curve after adjustment is obtained by bringing the x into l = f(w, s).