A front-end loader mounted on an agricultural tractor is one of the most commonly used implements for farm work.However, when the tractor carries loads with the front-end loader on hills, it can be dangerous if the bucket is high and its angle is not tilted properly depending on variable slope angles.The control of the bucket angle using a manual spool valve has a limitation in effectively maintaining the bucket angle within a constant level while timely responding to a change in ground slopes under rough terrain conditions.This study was conducted to develop a self-leveling system using an electro hydraulic (EH) control valve and a tilt sensor, which could automatically change the angle of bucket angle with various loads based on the real-time measurement of the tractor body angle.A laboratory-made front loader simulator operated on an electric hydraulic pump was used to develop a CANoe-based algorithm for controlling the self-leveling system.The EH control valve was controlled using SAE-J1939 associated messages via CAN BUS.An embedded self-leveling system mounted on a Korean tractor was tested in a proving ground with different slopes.