Abstract: 4D trajectory planning can solve flight delay problems and accelerate the implementation and application of automation and intellectualization in Air Traffic Control.4D trajectory planning based on analysis of historical radar tracks was proposed.Historical radar tracks were clustered and analyzed by Dynamic Time Warping algorithm and Hier-archical clustering.Horizontal paths were designed based on the reproduced traffic flow and standard arrival routes.The ranges of altitudes and speeds of aircrafts were determined by statistical analysis of historical radar tracks.The altitude profiles were designed based on the principle of aircrafts should keeping high altitude as much as possible in the terminal area.Finally,the speed profiles which satisfy the scheduled time of arrivals were designed based on optimized parameters. Arrival flights to Shanghai Pudong Airport were selected as a simulation scenario as a result of the mean error of 2.5 s and the margin of error of 1.9‰.The simulation result indicates that the proposed 4D trajectory planning method can achieve flights landing punctuality,reduce flight delays and improve the efficiency of the terminal airspace.