Abstract: With the continuous improvement of intelligent level,the demand for intelligent auxiliary transportation in important links of mine production is also increasing.The research and development of wire control system and equipment for fuel-based material vehicles and lithium battery human-vehicle automatic driving realized the automatic driving control system such as wire control steering system,wire control motion system,wire control drive and gear system,body control system,and underlying data feedback.The intelligent perception and multi-sensor fusion algorithm model of multi-source heterogeneous information fusion was established.The path calculation method of multiple navigation and positioning methods is developed,and the seven-in-one high-precision fusion positioning technology and equipment are formed,which solves the problem that the traditional and single positioning methods cannot meet the demand of positioning in the complex environment of coal mine surface area and underground roadway.The developed mining self-driving vehicle control algorithm and software realize the whole process intelligent control of vehicle self-driving system from environment perception,navigation and positioning,behavior decision,path planning to vehicle control.The upper computer integrated control system of coal mine auxiliary transportation intelligent system solves the problem of vehicle scheduling.The key technology and equipment for automatic driving of auxiliary transport rubber wheeled vehicles are elaborated from several aspects,which accumulates the technology,equipment and management experience for realizing the normalized automatic driving of China's coal mine auxiliary transport vehicles from the surface field to the underground roadway in allterrain and complex road conditions.