Abstract: In this paper, the design and realization of agricultural tractor field obstacle avoidance safety system based on millimeter-wave radar and camera, by building the tractor sensing environment, selecting the hardware equipment millimeter-wave radar and camera, and designing the special data acquisition software to realize the real-time sensing of the field environment and data acquisition, systematically elaborating the millimeter-wave radar signal transmitting and receiving mechanism in the field, and proposing a kind of targeting field A clustering analysis method for obstacle targets is proposed, and combined with the multi-target tracking algorithm, the system realizes the autonomous obstacle avoidance function of the tractor in the field. By fusing the information from millimeter-wave radar and camera, the system is able to accurately identify the obstacles in the field, and use the multi-target tracking algorithm to realize the tracking and avoidance of obstacles, which improves the safety and operational efficiency of the tractor, and provides reliable technical support for agricultural production.