To complete the field management of tobacco corn and other high stalk crops, a small high clearance tracked vehicle with remote control and full hydraulic drive was designed. The vehicle was more compact than most of the vehicles which used mechanical transmission structures and it had better passing ability in the field. A synchrovalve was used to improve the straight driving stability of the vehicle. The effect of offset barycenter and synchrovalve for the straight driving stability of the vehicle was studied. SolidWorks software was used to accurately assess the positions of the offset barycenter when the vehicle was noload and put two or four counterweights on the left frame. The quality of each counterweight was 42.6kg. Torques of left hydraulic motor were 23.19N·m, 32.79N·m and 42.41N·m.〖JP〗 Torques of right hydraulic motor were 34.28N·m,34.47N·m and 34.65N·m. Static torque values were applied to the motors and AMEsim software was used to simulate the hydraulic system. Simulation results showed that the differences between the motors were less than 1% and more than 38% relative to the total speed when the system had or didnt have synchrovalve. The driving direction of the tracked vehicle was adjusted well on the dry and hard cement floor. The direction was marked with red rope and marked the end point 50 m away in right ahead of the vehicle. The vehicle was driven forward to the end point and the offset distance was measured. Deviation rate was equal to offset distance divided by 50. Prototype tests showed that when hydraulic system had synchrovalve, the deviation rates of the vehicle were 4.12%, 4.28% and 4.62%. When hydraulic system didnt have synchrovalve, the deviation rates of the vehicle were 5.08%, 6.54% and 9.43%. Simulations and tests showed that using synchrovalves to improve the straight driving stability of the vehicle was feasible. Deviation rates of the vehicle could meet the requirements of the relevant national standards. This research could provide references for small high clearance tracked vehicles which were driven by hydraulic.