Organic　Rankine　cycle　(ORC)　can　effectively　utilize　the　waste　heat　energy　of　internal　combustion　(IC)　engine.　The　ORC　system　has　obvious　large　time-varying　characteristic,　strong　fluctuation,　and　hysteresis　under　the　synergistic　influence　of　frequent　fluctuation　of　vehicle　speed　and　operating　parameters　in　the　system.　The　power　system,　waste　heat　recovery　system,　transmission　system,　and　other　subsystem　models　are　constructed　in　this　study.　The　key　components　are　verified.　An　integrated　system　model　of　IC　engine-ORC　for　driving　cycle　is　constructed　on　the　basis　of　the　subsystem　model.　The　dynamic　response　of　ORC　system　is　evaluated　under　different　road　conditions.　The　synergistic　influence　of　multiple　variables　on　system　performance　is　analyzed.　Obvious　strong　coupling　and　nonlinear　characteristics　are　observed　among　different　performances　of　ORC　system　under　road　conditions.　Therefore,　a　multi-objective　cooperative　optimization　framework　of　ORC　system　considering　actual　road　conditions　is　proposed　on　the　basis　of　multidimensional　data.　In　the　process　of　collaborative　optimization,　thermal　efficiency　and　emissions　of　CO2　equivalent　show　a　clear　trade-off　under　different　road　conditions.　The　limit　value　of　thermal　efficiency　under　new　European　driving　cycle　is　also　6.48%　higher　than　that　under　worldwide　harmonized　light　vehicles　test　cycle.　Frequent　fluctuation　of　vehicle　speed　is　not　conducive　to　obtaining　the　limit　value　of　thermal　efficiency.　The　evaluation　and　optimization　of　the　comprehensive　performance　of　ORC　system　under　complex　road　conditions　can　provide　a　reference　for　the　practical　application　of　vehicle　ORC　system.