According to the nonlinear characteristic of hydro-pneumatic suspension, the 1/4 vehicle semi-active hydro-pneumatic suspension dynamic model of mine truck was establish. Based on the differential geometry theory, the nonlinear model accurate linearization was realized, and the adaptive LQG control strategy was applied to overcome the uncertainty of dynamic system. According to the actual requirement of the mine road, the performance index weighting coefficient of LQG controller were determined by applying analytic hierarchy process. The simulation results show that the proper selection of the weight numbers with the AHP is more easily; the body vibration is reduced effectively by semi-active hydro-pneumatic suspension adaptive LQG control, and the ride comfort and handling stability is improved significantly passive hydro-pneumatic suspension, the running safety is improved effectively in mine road.