For the guidance problem of trajectory tracking of autonomous surface vehicle (ASV), a trajectory tracking guidance method based on a novel guiding vector field is proposed. Firstly, to simplify the design of the guidance law, the Serret-Frenet coordinate system is constructed with the trajectory point as the origin, and a trajectory error model is constructed based on the ASV’s motion model in this coordinate system. Then, considering that the relative position has a great influence on the trajectory tracking performance of the ASV, a novel guiding vector field is designed. The piecewise function is used by this vector field to provide the corresponding guidance law for the ASV in the case of different relative positions from the trajectory point, achieving efficient and accurate trajectory tracking on the basis of ensuring relatively stable heading and velocity. Moreover, the heading command function provided is a smooth curve, which improves the enforceability of the command in practice. Additionally, the guidance law of heading and velocity are designed based on the vector field, and the tracking error of the system is proved to be uniformly bounded based on Lyapunov stability theory. Finally, the effectiveness of the method is verified by simulation.