Abstract: In order to test and evaluate the performance of autonomous navigation algorithms of orchard vehicles, this paper constructed a simulation test platform for autonomous navigation algorithms of orchard vehicles by using mathematical analysis software MATLAB. The simulation test platform built orchard planting model, light detection and ranging（LiDAR） measurement model, vehicle kinematics model, vehicle dynamics model, and motor control model to realize virtual orchard measurement and vehicle motion process simulation. The navigation results were displayed and the performance of navigation algorithm was evaluated through visualization of measurement data, navigation process and navigation deviations. The performance test results of single models and the overall platform have shown that the simulation test platform is reliable. For the navigation path generation and tracking algorithms based on a single 2D LiDAR, the simulation test platform can effectively test and evaluate the algorithm performance under various orchard planting parameters and vehicle initial states, and meet the testing requirements of autonomous navigation algorithms of orchard vehicles.