Abstract: In view of the influence of the change load of mine vehicle on the moving trail control accuracy,a vehicle model correlated with the load was proposed. The effect of the load on the tire lateral force and the vehicle steering system was studied. The PID parameters of the horizontal and vertical control under different load conditions were optimized by the PSO algorithm and the steering feedforward control was used to shorten the transition time of front wheel steering. The simulation results show that,compared with the vehicle model without load,the proposed model can improve the moving trail control accuracy and its robustness.