The general principles of the HIL models formation in the design of an ABS-featuring vehicle braking system are considered. The proposed modular principle of compiling a mathematical model of subsystems allows improving the model by the iterative method, which makes it possible to add or remove blocks, change their mathematical content, while maintaining the composition of formal relationships for a complete description of the object. The iterative process continues until a model has been obtained to solve the problem, which can be considered the most fully reflecting the physical and temporal processes taking place in real objects. Virtual physical simulation data help to adjust model parameters, apply numerical optimization, explore alternative scenarios for controller bandwidth, test development sensitivity, and study other factors. The application of this method also makes it possible to compare different implementations of control systems on different boards, analyze the development and evaluate the trade-offs. Thus, developers will be able to verify that the embedded system works exactly as planned, before its final implementation. This technology makes it possible to combine field systems with a mathematical description of the dynamics of ongoing processes and phenomena. At the same time, the Virtual Physical Modeling Technology, unlike the commercial Hardware-in-the-loop systems, is not tied to the hardware of any particular manufacturer.