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This paper presents a strong robust path tracking control method which is based on sliding mode control and active disturbance rejection control. Firstly, by constructing a desired yaw angle function, which can guarantee that the deviations of the vehicle actual lateral displacement from the desired path converges to zero when the yaw angle of the vehicle approaches the desired yaw angle, so that the complex path tracking control problem can be transformed into easy to implement yaw angle tracking control problem. Then, a robust vehicle yaw angle tracking controller is constructed. The controller consists of two parts: the extended state observer and the nonlinear error feedback control law. The extended state observer is used to estimate the unmodeled dynamics and unknown external perturbations of the system in real time.