A control method for trajectory tracking of intelligent vehicles was proposed by employing dualrate sampling. Firstly, the vehicle lateral dynamics model with relative error to the road was established for lane keeping steering control. Secondly, taking into account different sampling periods of various sensors, the state variables of the linear system were classified into two categories and each category was paired with a different sampling period. For this kind of dualrate sampling system, a periodically switched controller was proposed based on whether the sampling information about these two categories of state variables was available. Then,using the input delay approach, the resulting dualrate control system was modeled as a switched system with two timevarying sawtooth delays. The exponential stability condition of this closedloop system and the design procedure of the switching controller were established in terms of linear matrix inequalities (LMI). Finally, the trajectory tracking control was simulated by Matlab/Simulink. It was shown that the dualrate sampling method can achieve a better control performance compared with the existing singlerate sampling method, which illustrates the rationality and effectiveness of the proposed method.