Abstract: Based on the CODESYS platform, the vehicle control system of the multi-functional straight seeded machine of pepper was developed, which mainly included: control module of HST transmission, driven module of PTO motor, lifting and dropping control module of the agricultural machinery and tools, control module of fertilization machine etc.The system accurately controlled the HST lever position to stabilize the target speed by the double closed-loop control algorithm to the vehicle speed and the feedback voltage of the HST position.By the vehicle speed and the fertilization motor speed, the PID closed-loop control algorithm was used to realize the intelligent precision fertilization, etc.The related information of the whole vehicle, agricultural machinery and tools were sent to the terminal of the Agricultural Machinery and the Internet of Things via the can bus for farmers and users to be displayed on the remote computer terminal or mobile phone.The embedded system was mounted on three prototypes, which were used in the field functional test, located in Cui Gou Test Base, Yi Yang Demonstration Base and Lin Ying fields.It promoted to save the manpower, cost, time of sowing, rotary tillage, fertilization and other operations of pepper, wheat and other crops, and improve operation accuracy and efficiency.