The truck escape ramp is a type of traffic emergency facility for out-of-control trucks on long downhill slopes. As the rigid pebbles were randomly placed in arrester beds, it is difficult to simulate truck tires rolling onto the randomly shaped pebbles. Coupled with an overlapping method, the randomly shaped pebble DEM models were built. Based on the side view of a truck tire, the tire DEM model was built using a close packing agglomerate method. Next, the process of trucks running onto the truck escape ramp was simulated, and the signals from the truck speed and travel distance were recorded. Simulation results are consistent with the test results. The built tire-pebble DEM model could be used for truck escape ramp safety predication and the pavement of the arrester beds.