The highest goal for a good brake system design must be that the vehicle when braking obtains a shorter stopping distance does not leave the track and remains steerable. From the perspective of road traffic, safety and for avoidance of accidents the time and location of a vehicle coming to halt after braking are crucial. In heavy commercial vehicle having longer wheel base, pneumatic brake system is being used.The pneumatic brake system configuration has to be designed in such a way that the response time should meet the safety regulation standards and thereby achieve shorter stopping distance and vehicle stability. Validating the effectiveness of pneumatic brake system layout experimentally on stopping distance and vehicle stability is expensive. This paper deals with the modeling of a typical heavy commercial vehicle along with the entire pneumatic brake system layout with actuating valves, control valves and foundation brakes to predict the dynamic behavior and stopping distance. The modeling and simulation was carried out using AMESim, commercially available multi-domain physical modeling software employing bond graph technique and lumped system. The model is simulated for actual conditions and is compared with the experimental results.