The intelligentization of agricultural machinery is an inevitable trend of modern agricultural production. In order to improve the intelligence level of peanut harvester, the automatic driving operation system of peanut harvester was designed. Taking Dongtai Machinery’s 4HBL-2 self-propelled peanut combine harvester as the research platform, a manual and automatic integrated electronic control system with CAN bus communication interface was designed for the peanut harvester operating table, speed change mechanism and operating mechanism. PD control algorithm and Bang-Bang control algorithm were used to control the walking and operating system. According to the agronomic requirements of peanut harvesting operation, the joint operation strategy, automatic navigation path planning and path tracking control method of peanut harvester were designed. The automatic driving harvesting experiment was carried out on the cement road and the sandy soil peanut field at a driving speed of 0.25m/s. The results showed that the average absolute deviation of the straight line tracking of the peanut harvester on the cement road was 4.34cm and the maximum deviation was 9.30cm. The results of the field test on sandy soil showed that the average absolute deviation of the straight line tracking of the peanut harvester was 5.12cm and the maximum deviation was 12.20cm, which met the requirements of the combined peanut harvesting operation.