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Owning to the gravitational force of earth, all the vehicles must rely on road surface to move so that in vehicle driving scene emulation it must guarantee vehicle to travel on the ground and the real time reaction of ground conditions, this is so called terrain matching problem. Terrain matching algorithm of driving simulation affects the fidelity of various vehicles, the three points or four points terrain matching algorithm has the disadvantage of terrain abridging in detail such as crater and mound which jeopardizes the fidelity of driving raining simulator. Adding two points of track into the four point's terrain matching which simplify the tracked vehicle as rigid system of six supporting points. Building the model of 6 points terrain matching algorithm will improve the fidelity of simulation.