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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.

Applications in commercial and military fields created high demands on the steering performance of multi-axle vehicle. With the characteristic of more degrees of freedom (DOF), all-wheel cooperative steering is more conducive to improve the steering performance of multi-axle vehicle. This paper studies multi-axle vehicle assembled with steer-by-wire system, and proposes a control strategy to achieve all-wheel cooperative steering to improve the low-speed steering flexibility and high-speed steering stability of multi-axle vehicle. Based on the ideal steering performance at low-speed and high-speed, the steady-state gain of multi-axle vehicles at different speeds is reshaped. Also, the corresponding vehicle reference model is constructed to provide the ideal vehicle state as a reference. The precision of the vehicle reference model is verified by an all-wheel independent steering platform.