Abstract: In order to modeling crawler bulldozer rapidly, systematical analysis was carried out based on several characteristics, including working mode, system construction and dynamics. Furthermore, crawler type module, dynamic load module, hydraulic module and transfer case were established by Matlab\Simulink and Cruise. Rapid modeling for crawler bulldozer can be achieved by combining works mentioned above and the drive train model in Cruise. Based on parameters from real vehicle, the model was calibrated and used in simulation. With comparison of simulated results and experimental data, the errors of thrust force within 99.2% simulation time were less than 1% and the errors of track slip rate value within 71.8% simulation time were less than 1%. The results indicate that the model based on Cruise and Simulink can simulates straight bulldozing condition of bulldozer properly.