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In the development process of ABS controller, the pure numerical simulation is too ideal, the cost of real vehicle test is high and the cycle is long, so the bus ABS hardware-in-the-loop simulation test system is designed and built. The system is composed of xPC target real-time simulation environment, air brake system and vehicle dynamics model. The air brake system is built according to the real bus brake system. In addition, there are four force sensors. The vehicle dynamics model is composed of tire model, seven degrees of freedom vehicle model, arrester model and so on. And the simulation model was built by using Simulink. In the ABS control strategy, the logic threshold control is introduced. The brake tests at high adhesion coefficient road, low adhesion coefficient road and joint road were done on Bus ABS hardware-in-the-loop simulation test system. The results show that the logic threshold control can control the wheel slip ratio near optimal slip ratio. It has good control accuracy and robustness.