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This paper presents how hardware-in-the-loop (HIL) simulations have been used for testing during the development of ABS (Anti-lock Braking System). The Labcar system of ETAS is a popular tool for HIL tests. The vehicle model which is built in Matlab/Simulink is downloaded to run in RTPC (Real-time PC). The Labcar software, Integration Platform (IP), can configure boards which is a link between the model and ABS ECU. In this paper, a classical logic threshold control algorithm is adopted in ABS ECU. Through Labcar Experiment Environment (EE) various parameters can be monitored and modified conveniently. The HIL test of ABS ECU is implemented on high or low - adhesion road respectively. The results show that, although response lag exists in the hydraulic braking system, the curves of velocity and pressure in wheel cylinders can be close to those on real road with proper adjustment of control parameters.