This paper proposes a ship adaptive trajectory tracking control method to address the problems of poor control effect and low accuracy of traditional control methods in the process of intelligent ship trajectory tracking. Firstly, based on the construction of the ship motion coordinate system, a ship motion model is established for ship maneuvering motion. Furthermore, a classic ship speed control method is presented, and a ship adaptive trajectory tracking control method is constructed by combining the speed and heading control model with the adaptive line of sight (LOS) method based on the model predictive control (MPC) idea. In order to verify the effectiveness of the adaptive trajectory tracking control method constructed in this article, the algorithm was validated through the PYTHON simulation platform. The results show that the adaptive trajectory tracking control and prevention method proposed in this paper has good tracking accuracy and precision, and can maintain the good performance of the ship control system.