The invention discloses a path tracking control method of an automated driving vehicle. Firstly, left-and-right wheel drive voltages are obtained according to the state equation (1) of the left-and-right wheel drive voltages of the automated driving vehicle and the steering angle of the automated driving vehicle, and then the control voltage analog quantity is obtained through the linear relationbetween the left-and-right wheel drive voltages and the control voltage analog quantity and input in a motor controller; finally, the motor controller controls the left-and-right wheel drive voltagesaccording to the control voltage analog quantity, and path tracking control is achieved. According to the path tracking control method, large deviations existing in the driving process can be rapidlyand smoothly corrected, and precise path tracking control is achieved.