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A waste heat recovery system is applied to a heavy-duty series hybrid electric vehicle. The engine in a series hybrid electric vehicle can operate at steady state for most of the time because the engine and drivetrain are decoupled, providing the waste heat recovery system with a steady state heat source. Thus, it is possible to optimize the waste heat recovery system design while maximizing the amount of useful energy converted in the system. To realize such a waste heat recovery system, the Rankine steam cycle is selected for the bottoming cycle. The heat exchanger is implemented as a quasi-1D simulation model to calculate the accurate quantity of recovered energy and to determine the working fluid state. The optimal geometric characteristics of the heat exchanger and the efficiency are considered according to the working fluid. The Rankine steam cycle model is constructed, and the output power is calculated.