The development of advanced ABS, EBS, and vehicle dynamics control systems requires significant resources and testing. Even in the most controlled environment, on-track vehicle tests are not repeatable. A heavy vehicle model combined with pneumatic brake hardware connected to actual brake system controllers creates a powerful engineering tool. This tool is useful for control system development, electro-mechanical actuator development, and brake system development. An existing heavy vehicle model is modified to interact with the realtime simulation hardware and the pneumatic brake system hardware. Data from several hardware in the loop simulations are presented.