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Orchard vehicle is not only a modernized orchard management platform, but also a fruit-transit station. Its lifting platform can reconcile the needs of working on the ground and in the air to meet all kinds of actual requirements. But working conditions in orchard are complicated (like uneven and rolling ground) and the lifting platform has a relatively high mass center and a changing load, which are easy to cause rollover and pitch accidents. Aiming at the high frequency of vehicle rollover accident and the serious consequence it may bring about, this paper first developed two simplified linear dynamic models to analyze the force situation in rollover and pitch, then an orchard vehicle active steering control model was established based on dynamic orchard vehicle model and tyre model. After that, in Matlab/SimMechanics modular, applying control law, the orchard vehicle body model, tyre model, ground model and control model were constructed individually, and combining all the models with the orchard vehicle active steering PID simulation control model. Finally, comparative experiments of scaled orchard vehicle model and simulation analysis model were conducted to validate the practicability of Matlab/SimMechanics simulation model. Results show the SimMechanics model is sufficiently realistic to simulate the vehicle’s motion and the control law is capable to enhance the stability of orchard management platform, which provides references for follow-on study on stability control of orchard vehicle.