Abstract: To study a safe and smooth trajectory for buses during entering and leaving the harbor-shaped stops,a safe trajectory planning method for autonomous driving scenarios was proposed.The trajectory equations for four vertexes of the vehicle body were constructed based on Ackermann’s steering principle.The obstacle avoidance constraints,kinematic constraints,and pose constraints of the starting and ending points were established for the two working conditions,including the vacant and occupied bus stops.The quintic polynomial curve was used to model the safety trajectory for buses when entering and leaving the harbor-shaped stops.The linear programming and genetic algorithm were used to calibrate model parameters.The entering and leaving trajectories were achieved by using numerical simulation.The real-vehicle road experiments were carried out to verify the feasibility of the model.The results show that the quintic polynomial curve is suitable for the safe trajectory of buses entering and leaving the harbor-shaped stops.The mean absolute percent error (MAPE) between the planned and experimental trajectories is no more than 10%.The proposed trajectory planning method can provide a theoretical basis for self-driving buses’ safe and reliable operation.>