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Dynamic simulation of vehicle model in time domain with nonlinearity draws more and more attention in the world.The difficulty often results from nonlinearity.Using Abaqus Standard/Explicit,nonlinear models of leaf spring,tire and rubber bushing were set up accurately,and a nonlinear dynamic simulation of medium and heavy truck was carried out.The simulation results agreed well with road simulator test data.This method provides a good base of nonlinear dynamics simulation with proving ground durability load data as input in future study.