Abstract: Abstract: each link of coal mine auxiliary transportation system needs the participation of a large number of personnel, which has become a key problem to ensure underground safety and restrict the unmanned development of coal mine. According to the technical requirements of unmanned driving in coal mine, the vehicle control system controlled by CAN bus is designed, and the specific functions realized by each control execution unit of the vehicle are designed, including the functional design of driving auxiliary equipment such as driving motor, braking system, battery management system, personnel takeover control logic, methane gas alarm system, light, horn, etc, The wlr-9 (a) electric pickup truck of Shanxi Tiandi Coal Machinery Equipment Co., Ltd. was transformed and the application program was developed, and the ground and underground driverless tests were carried out in zhangjiamao coal mine. The test results show that the stability and reliability of the vehicle chassis controlled by CAN bus can meet the requirements of underground working conditions and environment in coal mines.