Abstract: In order to study the driving stability law of wheel loader under different road conditions, a driving dynamics model of wheel loader which can reflect the real-time motion trajectory of front and rear articulated wheel groups is established, and its differential equation is solved accurately. According to this model, the driving trajectory and transverse load transfer rate (LTR) of wheel loader under various complex road conditions are analyzed. The results show that driving speed is the main factor that affects the stability of wheel loader in any road condition, and LTR is positively correlated with speed; the worse the road condition, the greater the LTR, the LTR has exceeded the safety threshold when driving on a slope curve, thus the driving speed should be controlled to avoid tipping.