Internal　combustion　(IC)　engine　as　the　main　power　source　of　vehicle,　its　energy　saving　and　emission　reduction　is　of　great　significance　to　alleviate　the　energy　crisis.　Organic　Rankine　cycle　(ORC)　system　has　a　good　prospect　in　the　field　of　waste　heat　recovery　of　IC　engine.　However,　in　the　actual　operation　of　the　vehicle,　the　hysteresis　time,　time-varying　and　uncertainty　of　ORC　system　are　more　obvious.　Moreover,　under　the　influence　of　the　fluctuation　of　IC　engine　and　the　hysteresis　time　of　ORC　system,　the　performance　of　the　system　is　heavily　dependent　on　the　change　of　operating　parameters.　This　paper　firstly　constructs　four　key　models　of　power　system,　waste　heat　recovery　system,　chassis　and　driving　cycle.　Then,　the　driving　cycle-based　vehicle-ORC　combined　system　model　is　proposed.　From　the　perspective　of　thermodynamic　performance,　economic　performance　and　environmental　impact,　the　dynamic　response　characteristics　of　ORC　system　performance　and　operating　parameters　under　real　driving　cycles　are　systematically　evaluated.　The　performance　of　ORC　system　can　be　improved　by　9.25-17.72%　with　the　increase　of　the　large　speed　gradient.　The　hysteresis　time　of　ORC　system　is　16.6-144.3　s.　Hysteresis　time　and　performance　degradation　will　become　more　serious　with　the　superposition　of　decrease　of　the　large　speed　gradient,　low　speed　and　idle　speed.　The　hysteresis　time　under　the　influence　of　superposition　is　up　to　150.4-295.3　s.　There　is　also　a　39.59-62.45%　decline　in　performance.　The　analysis　of　dynamic　characteristics　of　ORC　system　under　complex　real　driving　cycles　can　provide　useful　guidance　for　practical　engineering　application　of　vehicle　ORC　system.(c)　2022　Elsevier　Ltd.　All　rights　reserved.