In　this　article,　the　authors　propose　an　efficient　algorithm　for　finding　a　risk-averse　path　for　use　in　autonomous　vehicle　navigation　systems.　When　no　dynamic　traffic　information　is　available,　a　risk-averse　path　can　be　found　by　a　constrained　A*　search.　The　accuracy　of　navigation　on　the　basis　of　static　network　data　is　improved　by　taking　travel-time　uncertainty　into　account.　When　dynamic　traffic　information　in　the　form　of　broadcast　traffic　messages　is　available,　rerouting　is　achieved　by　a　constrained　A*　search,　which　takes　congestion　propagation　into　account.　By　making　use　of　information　computed　at　the　start　of　the　trip,　the　authors　propose　a　responsive　version　of　the　constrained　A*　search,　which　reduces　the　on-demand　response　time.　An　experimental　performance　analysis　of　the　proposed　methods　on　grid　graphs　demonstrates　their　efficiency.