Braking safety performance is one of the most important capabilities in vehicle. Thus, a method for braking system matching development efficiently and conveniently is urgently needed by engineers. This paper, based on the needs of braking system matching development, established a braking pedal model which could reflect the braking system characteristic, a vacuum booster model, a master cylinder model, a hydraulic circuit model and a simplified vehicle model. Also, this paper developed the braking system simulation software which could realize system parameters setting, simulation and post processing by using MATLAB/GUI. Finally, as an example of this methodology, a particular vehicle braking system matching development is presented to verify the accuracy of the models achieved, which could validate the reliability of the software by comparing the simulation results and tests data.