The invention belongs to the technical field of safety of heavy-duty vehicles and particularly relates to a self-adaptive matching device for a TPMS (Tire Pressure Monitoring System) of a heavy-duty vehicle and a trailer. The device comprises a main controller arranged on a tow truck and a slave controller arranged on the trailer, wherein the main controller and the slave controller respectively receive information sent by TPMS sensors on tires of the tow truck and the trailer, and the slave controller transmits the acquired information to the main controller in a wired or wireless mode. The invention also discloses a control method. By arranging the slave controller, the slave controller transmits the acquired information sent by the TPMS sensors on the tires of the trailer to the main controller, and transmission between the main controller and the slave controller can be in the wired or wireless mode, so that when the trailer is replaced, the main controller is automatically matched with the slave controller to acquire the related data of the tires of the trailer very conveniently.