Intelligent autonomous articulated vehicles (IAAVs) are the most important transportations in the intelligent mining system which is the future direction of mining industry. Though it could realize the unmanned drive, without supports of hydraulic steering analyses and vehicle dynamic researches, there are no references for the IAAVs to adjust 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 based on the characteristics of road and tire. With the vehicle model, the relationships between steering wheel angle and vehicle steering angle, the motion trajectory, the force of tire and steering system will be conducted, which are the most important parameters for the path planning and tracking of IAAVs. Meanwhile, under the discussions of steering theories application on intelligent control, the methods considering MPC algorithm in IAAVs will be performed to improve its maneuverability. With these analyses, the interaction of front and rear part of IAAVs in different road conditions will be taken into consideration to advance the characteristic of its unmanned drive.