Aim at the difference in trajectory tracking accuracy during the movement of smart cars. An intelligent vehicle trajectory tracking algorithm based on inversion control algorithm is proposed. First, establish the kinematics model of the smart car, error model and dynamic model. Then, according to the inversion algorithm, design a reasonable amount of virtual control of the branch, combined with Lyapunov stability analysis, the intelligent vehicle trajectory tracking control law is designed. Finally, the simulation experiment of intelligent vehicle trajectory tracking control is carried out on Simulink. The experimental results show that the designed smart car motion trajectory tracking algorithm has better real-time performance and better tracking accuracy in the above learning algorithm or Lyapunov direct method. And meet the needs of the stability of smart cars under different speed environments.