Abstract: In order to improve the performance of the track vehicle with hydrostatic drive, a hydrostatic drive system model was designed based on the combination method of the theoretical model with the identification model. Then, a vehicle kinematics model was established, taking motor speed as output, vehicle speed and relative steering radius as input. Selecting a control strategy based on motor speed regulation, and obtaining the optimization parameters of fuzzy PID controller based on particle swarm optimization algorithm, a controller was build for the hydrostatic driven tracked vehicles. Simulation and vehicle no-load experiment results show that the algorithm can effectively control the vehicle to complete the target direct running, steering and other operations, and efficiently realize the operator's driving intention. Compared with traditional PID, it represents fast response, small overshoot, strong adaptability and real-time performance.