A computer-implemented method for path planning of autonomous driving vehicles, the method comprising: in response to a route for routing an Autonomous Driving Vehicle, ADV, from a source location to a target location, analyzing the route to identify a list of one or more driving scenarios along the route that match one or more predefined driving scenarios, wherein a driving scenario represents one of a driving straight scenario, a turning scenario, or a lane changing scenario; segmenting the route into a plurality of route segments based on the driving scenarios, at least one of the route segments corresponding to one of the identified driving scenarios; for each of the route segments of the route matching one of the predefined driving scenarios, identifying a preconfigured path segment from a scenario to path (scenario/path) table; wherein the scenario to path table includes a number of mapping entries, each mapping entry maps a set of driving parameters to a preconfigured path segment, and any one or more of the driving parameters is utilized as an index to search a preconfigured path segment; wherein for a straight scenario, said driving parameters include geographic location of a starting point and ending point of a path segment, vehicle speed, and lane width; wherein for a turning scenario, said driving parameters include geographic location of a starting point and ending point of a path segment, vehicle speed, and curvature; wherein for a lane changing scenario, said driving parameters include geographic location of a starting point and ending point of a path segment, vehicle speed, and lane distance; and generating a path based on the route segments for driving the ADV from the source location to the target location, the path having a plurality of path segments corresponding to the route segments, wherein at least one of the path segments of the path is determined based on the identified preconfigured path segment corresponding to a predefined driving scenario without having to dynamically calculate the same path segment. in response to a route for routing an Autonomous Driving Vehicle, ADV, from a source location to a target location, analyzing the route to identify a list of one or more driving scenarios along the route that match one or more predefined driving scenarios, wherein a driving scenario represents one of a driving straight scenario, a turning scenario, or a lane changing scenario; segmenting the route into a plurality of route segments based on the driving scenarios, at least one of the route segments corresponding to one of the identified driving scenarios; for each of the route segments of the route matching one of the predefined driving scenarios, identifying a preconfigured path segment from a scenario to path (scenario/path) table; wherein the scenario to path table includes a number of mapping entries, each mapping entry maps a set of driving parameters to a preconfigured path segment, and any one or more of the driving parameters is utilized as an index to search a preconfigured path segment; wherein for a straight scenario, said driving parameters include geographic location of a starting point and ending point of a path segment, vehicle speed, and lane width; wherein for a turning scenario, said driving parameters include geographic location of a starting point and ending point of a path segment, vehicle speed, and curvature; wherein for a lane changing scenario, said driving parameters include geographic location of a starting point and ending point of a path segment, vehicle speed, and lane distance; and generating a path based on the route segments for driving the ADV from the source location to the target location, the path having a plurality of path segments corresponding to the route segments, wherein at least one of the path segments of the path is determined based on the identified preconfigured path segment corresponding to a predefined driving scenario without having to dynamically calculate the same path segment.