The contact stress and acceleration signal under the conditions of different speed, friction coefficient , load and the difference of acceleration signal at different position of mechanical elastic intelligent wheels were studied. The results show that the velocity and friction coefficient have little effect on the normal contact stress distribution; and the increase of friction coefficient leads to the increase of the non-uniformity of shear stress distribution; and the increase of load leads to the increase of the maximum contact stress in the contact patch area. The amplitude of acceleration peak increases and the time interval of acceleration peak decreases with the increase of wheel speed. The time interval of acceleration peak increases with the increase of load. The longitudinal friction coefficient power spectrum can distinguish the friction coefficient. The acceleration signal in the middle of flexible tire body is more suitable for the study of lateral characteristics. The lateral displacement obtained from the integration of the lateral acceleration signal can predict the lateral deflection Angle.