This paper proposes a state-sensitive based event-triggered H∞ control strategy to solve the problem of unmanned ground vehicle (UGV) path tracking control under communication restriction. Firstly, a corresponding path-tracking control model is established according to the dynamics of the connected vehicle. Secondly, a novel state-sensitive event-triggered communication (SS-ETC) strategy according to the state perception of path tracking in real time is proposed. Then, an event-triggered H∞ controller is designed by combining the time delay system modeling method and Lyapunov stability theory. The proposed dynamic event-triggered communication strategy based on state perception can dynamically adjust the communication threshold according to the state measurements of the control system, and effectively realize the adaptive co-design of UGV communication and control. Finally, the effectiveness of the proposed dynamic event-triggered control strategy is verified by simulation experiments.