Abstract: Aimed at the kinematics characteristics of special heavy vehicles, coordinate translating relationship between vehicle and platform is setup. Proprioceptive simulation algorithm is studied adaptive to the vehicle. By the algorithm, calculation and analysis of the analog signals and the output signals of running virtual vehicle are conducted. By the filter instance and evaluation model of motion feeling, it is validated that the output signals via the developed algorithm model is fit to the 6-DOF Straward platform, and a motion feeling can be provided to the driver.