Based on the trajectory tracking control of the Unmanned Surface Vehicle(USV), we propose a new trajectory tracking control framework and use fuzzy control and PID to design controllers. Firstly, trajectory tracking control adopts a separate control scheme. To perfect the control structure, we add a speed control. Secondly, the separate control scheme uses a hybrid control mode which consists of track PID control, heading fuzzy control and rudder angle PID control. The speed control use PID control. Finally, we finish simulation experiment and compare the characteristics within or without disturb. The simulation result shows that the new trajectory tracking control framework could complete control objectives quickly and accurately with great robustness.