Focused on the problem that gun firing accuracy was influenced largely by turret vibration of a certain type tracked infantry combat vehicle, a simplified virtual prototype of infantry combat vehicle-road system was established under the ADAMS/ATV and SolidWorks environment. The random grade road model was created based on the harmonic superposition method is established. Main mechanical models of virtual prototype were analyzed. Driver model controller was introduced, turret vibration of infantry combat vehicle when running on B to E grade road with 2 to 5 gear speed was simulated. The result indicates that it is effective to analyze turret vibration by using virtual prototype and can provide a reference for the research of turret crew comfort and the analysis of the stability of the line of sight.