Unmanned vehicles have become the important direction of vehicle development,and the trajectory tracking is an important part of the large closed-loop system of unmanned vehicles,the control effect of which directly affects the performance of unmanned vehicles.Nowadays,the research on trajectory tracking control strategy has limited application to vehicle dynamics.This paper will design the trajectory tracking control strategy for unmanned vehicle,which based on the point of view of the vehicle dynamics.Firstly,we establish a7-DOF dynamic model of vehicle.And the Magic Formula tire model is built based on the experimental data.Then we design trajectory tracking control strategy.Through the vertical and horizontal control of the unmanned vehicle,the stability limit can be achieved and the accuracy of trajectory tracking can be guaranteed.In view of the designed trajectory tracking control strategy,the principle prototype vehicle is used to verify.The experimental results show that the proposed trajectory tracking control strategy works well and achieves the goal of achieving the stability limit and ensuring the accuracy of trajectory tracking.