Path planning system, which is one of driver assistance systems, can calculate the driving paths and estimate the driving time through the road information provided by information source. Traditional path planning systems calculate the driving paths through Dijsktra's algorithm or A* algorithm but only consider the road information from electronic maps. It is not safe enough for operating vehicles because of the insufficient information of vehicle performance as well as the driver's willingness.This study is based on the Dijsktra's algorithm, which comprehensively considered vehicular active safety constraints such as road information, vehicle performance and the driver's willingness to optimize the Dijsktra's algorithm. Then the path planning system can calculate the optimal driving paths that would satisfy the safety requirement of the vehicle.This study used LabVIEW as a visual host computer and MATLAB to calculate dynamic property of the vehicle. MapX was used as a source of road information. Then built a path planning system based on the Dijsktra's algorithm. This study researched the effects of vehicular active safety constraints with different vehicle parameters and driver's willingness on the planned driving paths. Then evaluated the paths rationally.The results of this study showed that the optimized path planning system can provide satisfied driving paths under different safety constraints. Compared with the traditional path planning algorithm, using the optimized Dijsktra's algorithm might slightly decrease the calculation of response speed. However, it meets the actual situation and it's better for drivers to choose safer paths.