Taking the driving wheel force as input and driving wheel angular acceleration as output, the kinemics model of track vehicle was built and the whole vehicle was equaled to wheel inertia based on actual pavement condition and test platform structure. Transmission function of test bed was recognized. The strategy of speed track, combined with single side speed closed-loop and both sides loaded control, was proposed. Test results showed that there was no abrupt change in speed during shift and slope process. The change of output torque was accord with actual road situation. The proposed method was proved to be valid and precisions in vehicle test.