In order to reduce the development time and cost of ABS control systems，the virtual prototype cosimulation method was used for testing and verifying the algorithm of control systems. First, a 97 DOF virtual vehicle model, which was included Macpherson independent front suspension and multilink independent rear suspension, was established in the ADAMS/Car. Then, the logic threshold ABS controller based on optimal slip was designed in MATLAB/Simulink, and a method of using the vehicle’s longitudinal speed for calculating the realtime sliding rate was put forward. By achieving the cosimulation control, a special ADAMS/Control port was used to transform nonlinear whole car model into S function and called by ABS controller. Through simulation analysis on straight line driving under the separation coefficient road surface, the results show that ABS control system based on logic threshold control method can effectively improve the manipulation stability when braking，and the logic threshold control has better practicality.