The invention discloses a transverse and longitudinal coordination control trajectory following up control method of an unmanned vehicle. According to the transverse and longitudinal coordination control trajectory following up control method, a control system in the control method comprises an information receiving module, a calculation solving module and a control command sending module. The control method comprises the following steps of step 1, receiving information: receiving information through the information receiving module; step 2, solving calculation: solving calculation through the calculation solving module; and step 3, enabling the control command emitting module to firstly transform front wheel turning angle and wheel driving/braking torque into direct controlling quantity of an executing mechanism. The method has the beneficial effects that the relationship of transverse motion and longitudinal motion of the unmanned vehicle is established by adopting transverse and longitudinal coordination control; and compared with independent control of transverse motion and the longitudinal motion, the transverse and longitudinal coordination control has the advantage that the control error caused by the coupling of transverse and longitudinal motion is eliminated, and the robustness of the control system is increased.