Methods and systems for path planning in an autonomous vehicle. Data representing an environment of the vehicle is received. A searchable map of the environment is generated using the received data. A bidirectional search of the searchable map is performed to determine a planned path from a first point in the searchable map to a second point in the searchable map, where the first point represents a first state of the vehicle and the second point represents a target state of the vehicle. Output is generated including data defining the planned path.
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