The invention discloses a trajectory tracking control method used for a driverless vehicle. The method includes the following steps that the current position point of a vehicle body is confirmed according to a reference trajectory; a matching point nearest to the current position point of the vehicle is found, and the road curvature of the nearest matching point is obtained according to a two-point curvature obtaining method; according to the current position point of the vehicle and the nearest matching point, a trajectory 
tracking error is obtained through calculation and comprises a transverse error and a head 
pointing error; a dynamic model feeding back 
cornering force on the basis of front wheels is established, and the optimal 
feedback control rate is obtained by the adoption of an LQR 
control algorithm; and the 
cornering force of the front wheels is determined, a front wheel 
slip angle is obtained on the basis of a reverse tire model, and then the 
steering wheel angle controlledquantity is obtained and issued to a steering-by-wire 
system to achieve trajectory tracking control. By the adoption of the method, the stability of trajectory tracking control of the driverless vehicle is improved, the trajectory tracking accuracy is improved, the tire 
slip angle is restrained, and the possibility that the tire force of the vehicle is saturated under an extreme working conditionand therefore the vehicle loses stability is avoided.