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A finite-time path tracking control scheme with state constraint is proposed for the autonomous vehicle path tracking control problem affected by compound disturbance and unmeasurable variables. First, the state observer and the disturbance observer are constructed to estimate the sideslip angle and the compound disturbance, respectively. On this basis, the state constraint finite-time controller is designed by combining the finite-time technique with the introduction of the barrier Lyapunov function and the backstepping control technique. Stability analysis is carried out according to the Lyapunov stability theory to ensure that all signals of the closed-loop system are bounded in finite time. Finally, the effectiveness of the proposed method is demonstrated by simulation and hardware-in-the-loop (HIL) experiments.