Virtual test interactive control methods was studied, agricultural machinery virtual test system was designed, experimental platform for field operating mode simulation and interactive control was built, and the drive of human and agricultural machinery in virtual environment was realized. To simulate the gestures of tractor driving, four degrees freedom simulation testing platform was built. Crop rows from virtual scenes were identified and control signals to control the tractor's speed and direction were gave. Results showed that the maximum deviation of roll angle was 0.34°, the maximum deviation of drift angle was 0.51°, elevation was 2.5mm, and speed was 0.12km/h. Physical prototyping and virtual prototyping were in good agreement. 