A path planning system includes an image-capturing device, a point-cloud map-retrieving device, and a processing device. The image-capturing device captures a first and a second camera road image. The point-cloud map-retrieving device retrieves distance data points to create a road distance point-cloud map. The processing device receives the road distance point-cloud map and the first and second camera road images, calibrates and fuses those to generate a road camera point-cloud fusion map, and then determines the road-line information of the second camera road image to generate a road-segmented map. The road-segmented map and the road camera point-cloud fusion map are fused. The distance data of the road-segmented map are obtained according to distance data points. A front driving path for the target road is planned according to the distance data.