With the aggregation of renewable energy in the power system, the uncertainty caused by the renewable energy affects the planning and operation of power systems. Meanwhile, the existing planning models fail to consider renewable energy uncertainty methods, specifically concerning renewable energy confidence and future possible scenarios; thus, a confidence-based scenario cluster method is presented. A novel generator, network, load, and energy storage (GNLS) co-planning model is proposed in the paper. First, a confidence-based scenario cluster is built, which can reflect uncertainties by clustering and analyzing wind, solar, and load. Second, the proposed model focuses on load and energy storage co-planning, and in addition, relevant flexible indices are used to assess the model. Finally, the GNLS co-planning model is built as a bi-level stochastic model on continuous time scales. The model is solved using the Benders decomposition algorithm. The method in this paper is validated using an IEEE RTS 24-bus and a real test system in China to demonstrate the reduction in renewable energy curtailment and optimization of economic factors in power system planning.