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The vision navigation control hardware system was set up in the combine harvester and a histogram fusion algorithm for multi-frame navigation lines was put forward. On the basis of kinematics of simplified two-wheel vehicle, model one fuzzy PD controller was constructed. The tests in wheat field show that the rotation and projection algorithm with histogram fusion algorithm is valid to recognize the cut/uncut line, and can improve the precision of the system and robustness, the change of harvesting width is in 0.18m during the working speed, and it could come back to the right path in 2~5s when given manual disturbance using steering wheel.