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Intelligent autonomous articulated vehicles (IAAVs), the most important transportations of intelligent mining system, are the future direction of mining industry. Though it could realize the unmanned drive, without supports of hydraulic steering process analyses and vehicle dynamic researches, there are no references for the IAAVs to adjust the steering angle in certain driving error. It still has to check the signal from the angle sensor repeatedly to track the planned path in the working process, which lead to the low control accuracy. In this paper, the theories of hydraulic steering process and vehicle model will be developed for the vehicle intelligent control with the analyses of road and tire characteristics based on the principle of least resistance.