Path planning for autonomous vehicle navigation is one of the most important technologies for the autonomous vehicle. Generally, a path generated by the autonomous vehicle navigation system must be smooth, and it is necessary to be able to compute efficiently since velocity of the vehicle is high. Therefore, in this study, a method to efficiently generate the trajectory based on digital map is proposed. Additionally, we also propose a method to decrease noises in digital map. Moreover, the system overview of our autonomous vehicle will be shown and result of autonomous vehicle navigation demonstration in the Tokyo motor show 2011 will also be shown.