The manned lunar rover is a crucial component of the manned lunar landing mission. Given the special physical environment of the lunar surface, the development of astronauts’ lunar driving skills is of significant importance. A simulated driving platform can offer astronauts the opportunity to train in a simulated environment that accurately replicates the physical characteristics of the Moon. This training effectively enhances their driving skills, thereby reducing mission risks and increasing the likelihood of mission success. Most research institutes around the world utilize physical experiments, such as free fall, parabolic flight, buoyancy pools, suspended gravity compensation systems, and passive exoskeleton systems, to simulate the unique and intricate environmental factors of spaceflight on Earth for the purpose of astronaut selection and training. This paper presents a design proposal for a manned lunar rover driving simulation system, comprising an interactive motion platform and a Vortex-based lunar surface simulation system. Based on the simplified analysis of the multi-rigid body dynamics model of the manned lunar rover, the suspension spring damping model and the wheel-ground interaction mechanics model are incorporated to establish a comprehensive seven degrees of freedom dynamics model that takes into account the combined characteristics of ground mechanics and suspension vibration dynamics. Additionally, through an analysis and study of the topology of the manned lunar rover and typical lunar surface terrain, a lunar surface terrain generation module, lunar rover model generation module, and wheel-ground interaction model secondary development module are established based on the Vortex dynamics simulation engine. Based on these modules, the development of a high-fidelity visualization simulation system for manned lunar rovers can be realized. Based on the Euro-Sim complex system real-time simulation framework, a semi-physical simulation is conducted to ensure real-time interaction between software and hardware modules. An interactive six-degree-of-freedom motion platform is designed to accurately respond to driver inputs and provide real-time feedback on the attitude changes of the manned lunar rover during the simulation. This enables simulated driving training for astronauts. Through the driving simulation system, astronauts can acquire lunar surface driving skills in a safe and reliable environment. By engaging in repetitive operational exercises and practice with the system, they enhance their ability to navigate complex environments. Integrating this system into the existing ground-based astronaut training program effectively cultivates astronauts’ proficiency in lunar surface driving, ensuring their efficient and safe execution of lunar driving tasks during real missions. Moreover, it provides essential technological support for the planning and execution of manned lunar missions.