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In the parking path optimization of the large parking lot, the shortest distance was often used as a single evaluation index traditionally, now, a feasible time optimal evaluation index is introduced, not only can simplify the hardware design of the guidance system, but also can save the software cost. Firstly, a mathematical model of parking lot network diagram R (P, C, D, V) is established, and all the network nodes are divided into two layers. Secondly, builds different evaluation function for different layer using the improved A* algorithm, it has improved the path searching efficiency and searching precision. Finally, the program result shows that the algorithm can find out the different time-optimal path according to the different attribute parameter very fast.