Abstract: This paper proposes a horizontal and vertical layered control method based on feedback pure tracking algorithm and MPC algorithm to address the problem of poor path tracking accuracy and stability of mining trucks under complex working conditions. Horizontal control adopts feedback pure tracking algorithm, uses dynamic preview distance, compensates for steering angle through lateral deviation feedback, and tracks and controls the steering angle of the mining truck; Vertical control adopts a layered controller designed with MPC algorithm to achieve control of the longitudinal speed of the mining truck. The simulation experiment was conducted using a mine unmanned transportation simulation system, and the results showed that the maximum lateral error was controlled within 0.35 m and the heading error was controlled within 2 °．