A method for calculating an optimal wheel position control angle of passenger boarding bridge automatic docking system includes collecting ranging information of a sensor to rotate the bridgehead direction via a distance measuring sensor on both sides of the bridgehead of the passenger boarding bridge, making the bridgehead parallel to the aircraft fuselage; collecting information of an aircraft door by a camera at the bridge head of the passenger boarding bridge to obtain a center position D of the aircraft door; in an ideal docking situation, the aircraft door should appear at the bridge head position as D″; the position where D″ is projected vertically onto the aircraft fuselage is D′, that is, the line segment DD′ is the horizontal distance deviation between the current passenger boarding bridge and the aircraft door, the line segment D′D″ is the distance between the current boarding bridge and the aircraft fuselage.