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In an autonomous vehicle, the lane following algorithm is an important component, which is a basic function of autonomous driving. However, the existing lane following system has a few shortcomings: first, the control method it adopts requires an accurate system model, and different vehicles have different parameters, which needs a lot of parameter calibration work. The second is that it may fail on road sections where the lateral acceleration requirements of vehicles are large, such as large curves. Third, its decision-making system is defined based on rules, which has disadvantages: it is difficult to formulate; human subjective factors cannot guarantee objectivity; coverage is difficult to guarantee. In recent years, the deep deterministic policy gradient (DDPG) algorithm has been widely used in the field of autonomous driving due to its strong nonlinear fitting ability and generalization performance. However, the DDPG algorithm has overestimated state action values and large cumulative errors, low training efficiency and other issues. Therefore, this paper improves the DDPG algorithm based on the double critic networks and priority experience replay mechanism. Then this paper proposes a lane following method based on this algorithm. Experiment shows that the algorithm can achieve excellent following results under various road conditions. [ABSTRACT FROM AUTHOR]