This　paper　primarily　studied　the　estimation　methods　and　index　of　ABS　based　on　the　wheel　forces　measured　by　wheel　force　transducer　during　the　straight-in-line　emerging　braking.　Firstly,　the　self-developed　wheel　force　transducer　and　the　vehicle　roadway　test　system　were　developed,　and　based　on　these,　a　homemade　passenger　car　was　employed　to　go　through　systematic　road　way　tests　on　one　test　ground.　The　tests　belong　to　emergent　braking,　and　both　the　brake　initial　velocity　and　the　ABS　switch　on/off　states　are　controlled.　Secondly,　the　comparative　analysis　on　these　test　results　were　made,　and　several　distinguishing　evaluation　index　on　the　ABS　performance　were　put　forward.　This　research　offers　the　quantitative　analysis　evidence　for　the　research　and　development　of　the　ABS　device.