In order to assist developers to set and revise PID control parameters for intelligent vehicle, a simulation platform for vehicle motion composed of three modules is designed. The shapes and parameters for tracks are stored in track module; the motion model and parameters for intelligent vehicle are built in the vehicle module; the motion simulation module is used to mimic the real physical environment with coordinate system. During emulation process, the simulation module receives parameters for vehicle and PID, with the aid of vehicle module, it then figures out the position and error information for developers. The result shows that, compared with the traditional way, this method is not constrained by certain sensors. Meanwhile, its simulation data could actually reflect vehicle motion. Importantly, it helps developers to enhance efficiency for control parameters revision.