Abstract: The path finding problem in dynamic road network has important significance for traffic guidance and traffic flow simulation．This paper presented a distributed path planning algorithm based on real-time traffic information．We modeled the intersection unimpeded degree and estimated the time that vehicle travel between adjacent intersections requires based on the traffic parameters collected by smart cameras installed in the road intersections．When a vehicle needs to conduct a traffic induction,we found the shortest path through the network between the smart cameras like the network routing idea．We proposed a delay delivery mechanism in the process of path finding．According to the intersection unimpeded degree and the distance to the neighboring intersection,the smart cameras set a delay to broadcast the path finding packet．In this way,the path finding packet can simulate the current road conditions．Thus the path finding result can be obtained quickly and effectively.

Key words: Dynamic road network,Path planning,Shortest path,Distributed searching,Delay routing,Traffic guidance