Based on the graphical programming software LabVIEW and the dynamic simulation software TruckSim, the threeaxle vehicle Automatic Brake System (ABS) hardware in the loop test platform is established. The parametric model of the whole vehicle was established by TruckSim, the realtime operation of software and hardware was guaranteed with LabVIEW and PXI as an environment, which further made the online realtime adjustment feasible and reduced the development cycle and cost. Two kinds of ABS control strategy were proposed in Matlab/Simulink, and the influence of road condition on braking performance was researched, the braking effect of the fuzzy Proportion Integral Derivative (PID) control strategy based on the peak adhesion coefficient of the pavement and the conventional PID control strategy were compared and Hardware in the Loop (HIL) experiments were carried out. The result shows that satisfactory effect can be obtained by the test platform of HIL, the fuzzy PID control strategy considering road adhesion coefficient can effectively reduce the braking distance and braking time with better directional performance, which provides a basis for development of the actual ABS controller.