Local　avoidance　planning　of　intelligent　vehicle　is　targeted　at　unknown　environment　or　part　of　unknown　environment.　2D　lidar　scanner　and　camera　sensors　were　equipped　on　the　intelligent　vehicle.　The　information　map　was　provided　by　the　real-time　environmental　information　for　the　danger　to　avoid　planning.　Three　algorithms　were　proved　correctly　by　real　vehicle　experiment　under　different　ordinary　weight,　particles　attract,　and　bionics　path　selection　for　reaction　tentacle　to　avoid　in　time,　optimal　and　smoothness　factor　for　pure　obstacle　avoidance　environment.　In　the　Future　Challenge　2010　(intelligent　vehicle　challenge),　single　pure　obstacle　avoidance　was　applied　in　the　environment　of　the　three　algorithms　in　different　environmental　conditions　have　got　good　results.