The invention discloses an unmanned driving method for large-scale tunneling equipment, which comprises the following steps of: firstly, arranging at least four groups of hydraulic units for driving acutter head of large-scale tunneling equipment to tunnel forwards, and carrying out zonal arrangement and walking around a preset tunneling axis of the cutter head according to the upper position, the lower position, the left position and the right position; then taking two groups of hydraulic units which are horizontally and bilaterally symmetrical as detection objects, establishing a dynamic mathematical model of the relationship among the hydraulic thrust for driving the tool bit to work, the position of a hydraulic cylinder and the load of large-scale tunneling equipment in advance, obtaining the value of a control quantity and applying the value of the control quantity to a control input end, finally obtaining a mining angle value required by large-scale tunneling equipment in real time; circularly calculating the control quantity of the next step according to the method and applying the control quantity to large-scale tunneling equipment, so that large-scale tunneling equipmentcan walk along the track of the preset tunneling axis in real time until large-scale tunnelling equipment reaches the pre-excavated end. The method can ensure the high precision of the actual runningtrack of the whole process.