Abstract: In this paper, the selection of control point of tractor automatic driving was discussed, and based on that, kinematics and dynamics models of tractor were developed. Moreover, the optimized control method for tractor automatic steering was discussed according to the two models, respectively. It is a time-lapse and non-linear complex that tractor automatic driving system, so an arithmetic of control parameter which fuses characteristic of kinematics and dynamics model was presented in order to improve feedback control parameters precision for reducing test time, which is useful to control parameter confirming in test. The result reveals that the control technique is suitable for tractor automatic steering system.