Kelvin van Hasselt, vice-president of The Battlefields Trust, said: "The Battle of Bosworth is a crucial part of England's history, which ushered in the Tudor era.
"The development would be on the western side which is a critical part of the battlefield and the area from where Henry advanced.
"School children should be able to go up to the area and contemplate where Henry looked out and saw Richard's forces, but the buildings may obscure the view and the landscape in the foreground will be changed forever. Who wants to climb a hill and just look at industrial buildings?"
Historic England has also written to Hinkley and Bosworth Borough Council arguing that the proposal will harm the site and destroy archaeological evidence which could be key to understanding "the ebb and flow of the battle as it progressed".
Dr Andy Hammon, Inspector of Ancient Monuments at Historic England, said: "The Battle of Bosworth was one of the most pivotal battles in English history.
"The development proposal is a substantial structure and would have a direct physical impact and indirect impact through altering the rural character of part of the battlefield.
"Clear and convincing justification needs to be identified by the local planning authority to ensure that the level of harm that would be caused is outweighed by the public benefits."
The new track would be built on 33ha of land next to Horiba Mira's existing vehicle test centre at Higham-on-the-Hill near Hinckley, Leicestershire.
The company says the new facility will create 1800 jobs and allow companies from across the world to test driverless cars and fleets of autonomous vehicles.
It is being developed in partnership with Coventry University and is partly government funded.
But recent archaeological investigations at the site have shown that shot from the battle still remains in the ground as well as other artefacts dating from the English Civil War.
Dr Glenn Foard, of the University of Huddersfield, who has spent 14 years researching the Bosworth and whose discoveries led to Historic England redrawing the battlefield perimeters, said the development would transform a unique landscape.
"Bosworth is an historic battlefield of international importance," he said. "It is not significant only for the major political change of dynasty that it heralded it is also of the highest archaeological importance.
"It is fairly clear now that Henry Tudor approached the battlefield along the Roman road and that he will have first seen Richard's army deployed when he reached the highest ground.
"Currently the landscape between this gentle ridge top and the heart of the action, including the location where it seems likely that Richard was killed, is open rural countryside.
"A rural scene will become urbanised and a key element of the battlefield will be lost - the potential for future interpretation to present that view at the outset of the battle."
The council's planning committee meet at 6.30pm on Tuesday evening (Wednesday morning NZT) to decide on the site. So far there have been 162 letters sent from locals and groups about the proposal, of which 161 have been objections.
Michael Wood, President of The Battlefields Trust, added: "This is a major and totally unexpected threat. We hope that even at this late hour any decision might be delayed until expert consultation is taken over the full importance of this historic landscape."
