Abstract: Based on vehicle dynamics, the coupling vibration model between vehicle and ground is established, and the contact model of elastic roller is adopted to reflect the tyre tolerance. At the same time, the longitudinal and vertical forces between the wheel and the ground are considered, the system dynamic control equation is constructed, and the analytical solution of the surface vibration displacement is obtained by using Fourier and Laplace integral transformation. In the numerical example, the inverse discrete Fourier transform and Crump's method are used to do the numerical inversion, and the time domain solution of the surface vibration displacement is obtained, the influence of the parameters of the surface vibration displacement is analyzed. The results show that the surface irregularity has the most significant influence on the wheel-earth interaction, and the more uneven the ground, the greater the wheel-earth interaction and the greater the surface vibration displacement. The influence of vehicle speed on the wheel-ground force is limited, but it has a great influence on the excitation frequency of load. When vehicle speed increases, the excitation frequency increases, and the surface vibration displacement increases accordingly. At a low speed, tire inclusivity has a certain effect on the wheel-ground force and surface vibration. With the increase of tire inflation pressure, the wheel-ground force and surface vibration displacement increase, but with the increase of speed, this effect will gradually disappear.