## 1 Introduction  
Due to the strong mobility, excellent environmental adaptability, and outstanding load-bearing capacity and traction, tracked vehicles are widely applied in various industries including mining, construction, forestry, agriculture, and military [1, 2]. For improving the adaptability of tracked vehicles, the dynamic characteristics of tracked vehicles equipped with various suspensions under specified working conditions have been designed and studied by experiments and simulations. A novel symmetrical passive suspension tracked vehicle was proposed by [PERSON] et al. [3]. For revealing its dynamic characteristics, an inverse kinematic analysis model based on constraint equations and quasi-static analysis was built and verified by experiments, indicating that the proposed tracked robot is more suitable for overcoming high obstacles than a cross-structured one. [PERSON] and his colleagues conducted research on the constant hydraulic drive control method for tracked vehicles. They developed a novel tensioning device by integrating an electro-hydraulic servo control system. They also established the dynamic equations of tracked vehicles and combined dynamic modelswith analytical models to verify their operational performance. The results confirmed that the tensioning device can reduce the average tension force exerted on the tracks [4]. [PERSON] and his colleagues proposed a verification method based on the similarity theory. They conducted a 1:5 scale modeling of a variable stiffness suspension system and transformed the experimental results using similarity indices. This approach facilitated performance predictions for full-scale chassis. According to the power spectral density (PSD) analysis, the low-order natural frequency of the vertical inherent mode (Z-axis) is 1.1 Hz. The Root Mean Square (RMS), A-weighted Acceleration (AAP), and Vibration Dose Value (VDV) indicate that the ride comfort performance of this dynamic chassis falls between'slightly uncomfortable' and 'quite uncomfortable'. Comparing this with the experimental results, it is determined that conducting preliminary assessments of ride comfort using a 1:5 scale model is feasible [5]. [PERSON] et al. [6] carried out numerical analysis on the hybrid optimization problem of the speed-coupled parallel hybrid system of tracked vehicles, the optimal hybrid factor is 0.48 for the speed coupled parallel structure, and the results are of significance for powertrain design. [PERSON] et al. [7] carried out the multi-point layout optimization design of the active suspension of tracked vehicles based on the orthogonal test method to achieve comprehensive optimal vibration damping performance and energy consumption of tracked vehicles, and analyzed the influence law of each layout scheme on the vibration damping performance of the suspension system under typical road surfaces and the change law of energy consumption. The result is a balance between suspension damping performance and energy consumption. In addition to the influences of vehicle body structure and research methodologies mentioned earlier, the modeling of the road surface, as an interacting element of vehicles, also plays a crucial role in determining vehicle dynamic characteristics. Thus, the road surface of a specific test site was scanned by using PPS laser scanners, IMU navigation modules, etc. to build a realistic road surface simulation model by [PERSON] et al. [8]. With the proposed simulation model, the statistical analysis accuracy of the simulation model was analyzed to verify its effectiveness. However, it should be noted that the reconstructed road surface model using this method is only suitable for reproducing non-deformable and slightly deformed road surfaces and may not effectively replicate soft ground conditions. Accordingly, based on Discrete Body Dynamics (DBD), a simplified linear decoupling motion equation with a faster simulation speed and a higher system stability was built by [PERSON] et al. [9].