The invention relates to a dual-mode parallel intelligent driving vehicle trajectory tracking driving system based on the predictive control. The system comprises a human-computer interaction unit, acombined positioning unit, a communication unit, a comprehensive information perception unit, parallel vehicle processing double units and an execution unit, wherein the combined positioning unit gives the position and the attitude information of an automatic driving vehicle in real time, the comprehensive information perception unit gives the traffic information around the automatic driving vehicle in real time, and the execution unit comprises the line-control steering and the line-control driving system of a vehicle, receives the control instruction output by the parallel vehicle processingdouble units, and finally completes the stable and reliable trajectory tracking of the automatic driving vehicle. The invention further discloses a trajectory tracking driving method for the dual-mode parallel intelligent driving vehicle trajectory tracking driving system based on the predictive control. The system adopts a dual-system parallel control structure to improve the adaptability and robustness of the algorithm, after the model is identified, the dual systems work simultaneously, the fault tolerance capacity of a control system is greatly improved, and the safety and reliability ofthe automatic driving vehicle are improved.