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In order to research motor vehicles regenerative braking, a hardware-in-the-loop (HIL) bench design was introduced. The modular method and hierarchical control mode have been adopted in test bench hardware structure designing, CAN bus was used to connect each of the controllers, and it has better controllability and expansibility. The software of test bench has been developed based on the virtual instrument technology. The test bench could perform simulating auto driving and braking conditions, energy conversion, energy reclaiming and reusing. The HIL research projects could be carried out on the test bench including braking stability, energy reclaim and reuse, controlling of braking pedal and harmony controlling in plurality braking, also theories of brake-by-wire could be tested after it expanded.