0.015m和0.079m。In order to increase the work efficiency, an automatic control system of tractors platooning was developed. A tractors platooning model was established and a platooning control method was designed. Firstly, a reference route for the following tractor was dynamically created from the position points of the leading tractor, and subsequently processed by the least squares fitting method to filter out some noise. Secondly, a feedback path-tracking controller was designed to guide the following tractor along the reference route. Field tests were conducted on a flat meadow. The results indicated that the following tractor followed up the leading one successfully with the mean and RMS lateral deviations of less than 0.015 m and 0.079m, respectively.