The invention discloses a friction simulating device, comprising: a first driving shaft, a first driving gear, a second driving gear, a second driving shaft, a plurality of friction plates and a driving mechanism. The first driving gear is coaxially fixedly connected to the first driving shaft. The second driving gear is located on a radial outer side of the first driving gear and is provided coaxially with the first driving gear. The second driving shaft is coaxially fixedly connected to the second driving gear. The plurality of friction plates being provided subsequently between the first driving gear and the second driving gear in a direction of an axis of the first driving gear, wherein some of the friction plates are axially movably connected to the first driving gear in a circumferential direction, and the other friction plates are axially movably connected to the second driving gear in the circumferential direction. The friction simulating device is able to simulate the friction applied to the wheels of the vehicle by the ground.