Abstract: For the requirement of rapid and safe travel of emergency rescue vehicles, an emergency vehicle path planning method for safe travel is proposed. The road safety evaluation function was established by introducing the characteristic attributes of meteorological condition, number of intersections, vehicle density, and congestion factor. Taking the driving time and road safety of emergency rescue vehicles as the optimization objectives, a multi-objective path planning model of emergency rescue vehicles was constructed. To solve the optimal ambulance path, an improved ant colony optimization (IACO) was designed. The A* algorithm was used to initialize the pheromone to improve the early efficiency of the algorithm. An improved search path transition probability function and pheromone update strategy were designed to improve the convergence speed and optimal solution quality of the algorithm. The experimental results show that the IACO can converge to the suboptimal solution faster and achieve a balance between travel efficiency and safety.