This paper proposes a RRT path planning algorithm based on the guiding-area which is generated with the A* algorithm. This algorithm can benefit the domain from the following aspects: the applications of RRT algorithm to the field of path planning for the intelligent vehicle can be improved significantly. The performance of the traditional RRT algorithm can be enhanced by solving some inherent issues, such as low searching efficiency, irrational nearest neighbour searching functions etc. The novel algorithm combines A* and RRT effectively. Based on low resolution grid map, A* algorithm is applied to construct the guiding area, which is used to improve the sampling efficiency. To enhance the reasonableness of the selection of searching tree node, the vehicle’s constraints are considered in the design of the nearest neighbour searching function. Finally, the superiority, validity and practicability of the proposed algorithm is verified in simulations and experiments with the real vehicle