For the traditional path following control method based on precise mathematical models, it is difficult to adapt to the complex and changeable driving environment. A path following control method based on terminal sliding mode control and active disturbance rejection control is proposed. Firstly, the path following control is simplified by constructing a desired yaw angle function that satisfies the condition that the lateral displacement deviation converges zero when the actual yaw angle of the vehicle converges the desired value. Then, the unmodelled dynamics of the system are estimated in real time by the extended state observer, and the non-singular terminal sliding mode is adopted to design the nonlinear error feedback control law to achieve fast and accurate yaw angle tracking control. Simulation results show that the designed controller can ensure that the vehicle runs stably while following the desired path quickly and accurately.