This study developed and evaluated the performance of an autonomous driving system that enhances the work efficiency and precision in orchard work. The autonomous driving system includes a main controller equipped with an RTK-GPS and IMU, automatic steering wheel, interface box, and a one-touch switch. The experimental conditions included a one and two-stage variable driving test where the path-position deviation was altered to 10, 20, and 30 cm on both a standard paved road and test orchard field at a tractor speed of 2 km/h. On the test orchard field, adjusting the work path to 10 cm and 20 cm resulted in a positional error of approximately 2 cm between the initial adjustment and the return to the original driving path. For a 30 cm adjustment in the work path, position errors were noted at 10 cm for both the initial change and return, with heading angle errors of 4 degrees; however, the vehicle exhibited stable driving on the autonomous path after re-entering the initial path.