Method and apparatus for simulating vehicle, and medium

A non-transitory computer readable storage medium having computer instructions stored thereon, wherein the computer instructions are configured to cause a computer to execute a method for simulating a vehicle, and the method comprises:

• determining, by a tire dynamics module, a tire translational force at a current moment based on a control instruction issued by an upper planning module and motion data of a vehicle body and a tire normal load outputted by a vehicle body dynamics module at a previous moment;
• and
• determining, by the vehicle body dynamics module, motion data of the vehicle body and a tire normal load at the current moment based on the control instruction and the tire translational force at the current moment, the motion data of the vehicle body at the current moment being used for vehicle simulation, and the tire normal load at the current moment being used to determine a tire translational force at a next moment.