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In response to the demand of unmanned field machinery in the middle and late stages of high-stalk crop growth, the automatic walking control system was designed based on a remote control type of small high clearance hydraulic tracked vehicle. The STM32 controller was taken as control core, and the effective signal was obtained by using sensors such as ranging, contact rod, angular velocity and so on, the system can precisely control the opening and closing time of the hydraulic solenoid valve, so that the crawler vehicle can rotate the corresponding angle, and it can walk in the field according to the growth of crop. In order to obtain the angle of rotation of the tracked vehicle under different offset transitions, the steering model of the tracked vehicle and the standard field offset model were established, and the expression of theoretical angle of tracked vehicle in different corresponding states was deduced. Considering the phenomenon of slippage and slippage when the tracked vehicle was turning, the steering angular speed of the tracked vehicle at different driving speeds was calibrated. The test results showed that the actual steering angular velocity was between 63%～67% of the theoretical steering angular velocity. In order to verify the walking effect of the hydraulic vehicle automatic walking system, the track vehicle passing test of two working modes was carried out on the hard cement road surface, and the track trajectory of the tracked vehicle was accurately measured by using Unistrong G970 multi-frequency GNSS system. The results showed that the two-way mode of the receiver's phase center turning trajectory was 5.573m and 5.572m in counterclockwise travel and 4.704m and 4.645m in clockwise walking, respectively, receiver phase center offset was between 0.163m and 0.285m. The relative error of turning track radius and actual radius of frame geometric center was between 0.92% and 2.14%. The tracked vehicle had good effect on automatic walking, which provided a reference for the design of automatic walking control system of field self-walking tracked vehicle.