Abstract: An anti-lock braking system for a heavy vehicle was simulated based on ADAMS and Matlab/Simulink. A nonlinear heavy vehicle dynamic model was built in ADAMS/Car, including the front and the rear suspension systems, the vehicle body, the engine system, the steering system, the antiroll system, the brake system, and the tire dynamic model. The nonlinear characteristics of the tire, the bushing spring and the damper were considered so as to reveal the dynamic performance of the vehicle accurately. A fuzzy control Anti-lock Braking System(ABS) model based on the wheel slipping rate was built in Matlab/Simulink. Then the straight-line braking simulations were carried on three types of roads with high friction coefficient, low friction coefficient and split friction coefficient under different vehicle loads. In a joint simulation, the braking dynamic responses of the heavy vehicle were compared with the case of a general brake without ABS. It is shown that the ABS fuzzy control based on the slipping rate as designed in this paper performs very well for the heavy vehicle. The wheel slipping ratio could be maintained near the optimal slipping ratio, and each wheel is prevented from locking up. In addition, the braking distance, the braking time, and the braking stability are greatly improved.