To enhance the reliability and control accuracy of the path tracking controller of intelligent vehicles, a path tracking control method based on the vehicle error dynamics model is proposed. The system error dynamics model is established based on the vehicle kinematics model and dynamics model. On this basis, a steady-state control law for path tracking control is deduced, and its correctness is proved by the Lyapunov stability theorem. In addition, to improve the anti-interference performance and reliability of the controller, a transient control law based on the lateral displacement error is designed. Then a nonlinear path tracking controller can be constituted by the steady state control law and the transient control law. The effectiveness of the proposed control method is verified by comparing it with linear and nonlinear controllers commonly used for path tracking, and the Stanley controller is chosen as a representative of nonlinear controllers, and the LQR controller is chosen as a representative of linear controllers. The results show that compared with the LQR controller, the proposed control method has better path tracking control accuracy, anti-interference, and reliability. Compared with the Stanley controller, the path tracking control accuracy and control convergence rate of the proposed control method are better, and the reliability is higher in the process of the large curvature path tracking.