The invention discloses a static obstacle avoidance path planning method for an unmanned motorcycle. The method comprises the following steps: building an equilibrium kinetic model and a kinematic model of an unmanned motorcycle; acquiring an access connecting an initial node with a target node on a grid map by using an adaptive resolution A* algorithm; combining the equilibrium kinetic model withthe kinematic model, pruning the access by using an RRT algorithm, and generating a path which can be executed by the unmanned motorcycle. The method disclosed by the invention shows an environment at different levels by adopting a low-precision map, a historical path and historical map pruning technique is adopted, run time of the algorithm is greatly reduced, demand on real time performance inpath planning is realized, and the method can relatively quickly adapt to the environment when the environment changes, so that the method can be expanded to be a dynamic obstacle avoidance algorithm.