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As one of the key technologies in autonomous driving, the lateral planning module guides the lateral movement during the driving process. An integrated lateral planning module should consider the non-holonomic constraints of a vehicle, the optimization of the generated trajectory and the applicability to various scenarios. However, the current lateral planning methods can only meet parts of these requirements. In order to satisfy all the performance requirements above, a novel Potential Field (PF) based lateral planning method is proposed in this paper. Firstly, a PF model is built to describe the potential risk of the traffic entities, including the obstacles, road boundaries and lines. The potential fields of these traffic entities are determined by their properties and the traffic regulations. Secondly, the planning algorithm is presented, which comprises three modules: state prediction, state search and trajectory generation.