Auxiliary transportation of underground coal mines is an essential link in modern mine mining. The current auxiliary transportation system has some problems, such as high risk, high labor cost, difficult recruitment, low work efficiency, etc. Taking "Intelligent Equipment, Intelligent Transportation and Intelligent Management" as the overall framework, this paper designs the operation process of mine auxiliary transportation vehicles and puts forward a general architecture of intelligent unmanned transportation system for mining auxiliary transportation vehicles. And the complete schemes of the intelligent dispatching management system, unmanned system, V2X vehicle-road cooperative perception system, remote monitoring, emergency takeover system, and auxiliary operation terminal are designed. The whole set of unmanned transportation systems can realize the deep integration of emerging technologies such as deep learning, big data, and V2X. It can significantly reduce potential safety hazards, improve transportation efficiency, and bring economic benefits. And it can guarantee the safe and efficient operation of auxiliary transportation links of underground coal mines and actively contribute to constructing the intelligent mine and transforming and upgrading coal mining.