The crane tube is currently the main equipment used for refueling tank trucks, and the residual vibration at the end of the crane tube directly affects the accuracy of autonomous refueling. The vibration mechanism of the autonomous refueling crane is analyzed emphatically in this paper. Firstly, the dynamic model of the autonomous refueling crane for the tank truck is established based on the Lagrangian method. Secondly, the structure of the autonomous refueling crane model is simplified using Solidworks, and the complex structure is integrated. Finally, the vibration of the simplified autonomous refueling crane model is analyzed by finite element analysis using Ansys Workbench software. The simulation results show that there are two main reasons affecting the vibration at the end of the crane tube, that is, the sudden change of the input signal from the refueling will excite the low-order modal vibration of the autonomous refueling crane, and the external disturbance will also cause the vibration of the autonomous refueling crane.