Ayurveda is an upaveda, which means that is a subsidiary text to the Veda. It evolved from the insights of the Rshis (sages) in samAdhI, and hence it contains the same insights into Reality as it manifests in the physical realm (bhUlokam). The doshas in Ayurveda are:
vAta: associated with dry, light (weight), cold, rough, subtle, restless
pitta: hot (fiery), sharp, spreading, oily, fleshy, red
kapha: heavy, slow/dull, dense, soft, static, hard, gross
The doshas are associated with the panca mahAbhUtas in the following way:
vAta: one part of AkAsha and two-third part of vAyu
pitta: one-third part of vAyu, one part of agni and one-third part of apah
kapha: two-third part of apah and one part of pRthvI
Similarly in Ayurveda there is a connection between the essential energies ojas, tejas, and prANa with kapha, pitta and vAta