Taking a self-developed articulated underground mining vehicle as prototype, the driving simulation scene model, 3-D vehicle model and tunnel model were established for the working environment of underground vehicles. A 3-DOF kinematics and dynamics nonlinear discrete model was built up to ensure the real-time driving simulator and reality. The models and the scene were driven by using an open-source graphics engine and an object-oriented graphics rendering engine. Ray casting method was used to virtualize the laser measurement sensors in simulator so that it could provide support for intelligent technique research of underground mining vehicle.