The existing intelligent vehicle trajectory tracking controller have the problems such as low tracking accuracy and weak robustness. In order to solve these problems and improve track tracking effect, a sliding mode control method based on a new reaching law was proposed because the sliding mode control had the advantages of quick response and strong anti-interference ability. The new reaching law was the combination of a special function and a inverse hyperbolic sine, which made sure that the system state can approach the sliding surface quickly whether it was near the sliding surface or not. The law really avoided the shortcoming of the traditional algorithms and improved the approaching speed of the controlled system and limited the vibration. The controller that used this method can control the vehicle to track the reference trajectory quickly. In order to prove the effectiveness of this method, a vehicle kinematics model was built and the trajectory simulation experiment was carried out in Simulink to compare the control effect of the new reaching law with the double power reaching law. The results of the simulation verified that the new reaching law had higher approaching speed and weaker vibration and it had better control effect. Controlled by the sliding mode control method based on the new reaching law, the convergence speed of horizontal and vertical errors of the vehicle kinematics model was significantly increased, the vibration of course angle error became weak, and the vehicle kinematics model can track the trajectory faster.