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A study was conducted on a two wheel self balancing vehicle with different axles (DATWSBV), which was simplified as an inverted pendulum system (IPS) with gyroscope effect, a nonlinear mathematical model is established using the Lagrange equation, and a sliding mode controller (SMC) and an adaptive sliding mode controller (ASMC) are designed. The three models of uncontrolled, SMC and ASMC controlled were simulated separately, and the results showed that the uncontrolled two-wheel self-balancing vehicle could not restore upright and complete the steering under the action of gyroscope. Compared to SMC, ASMC allows IPS to return to upright faster when disturbed and achieves the desired roll angle for steering. In addition, the actual vehicle model of DATWSBV is established in BikeSim, which verifies the consistency between this Bikesim model and IPS mathematical model, and further verifies the control effect of ASMC based on the joint simulation of BikeSim and Matlab/Simulink. The results show that ASMC can ensure the anti-interference ability and steering ability of heteroaxial two-wheel self-balancing vehicles.