Use the system identification to get the mathematic model of ratio-control-valve, clamping-force-valve and the clutch-control-valve, and then the CVT ratio response model, engine model and the whole vehicle model were set up by combining the theory and the experimental study. Based on the whole developed model, the hardware-in-the-loop test bench was set up. With the test data of one domestic CVT prototype vehicle taken as the example to verify the developed hardware-in-the-loop test system, comparative results between model response and the real vehicle prototype response show that the developed hardware-in-the-loop test bench can reflect all the characteristics of CVT vehicle. Therefore, the proposed hardware-in-the-loop test bench can be used for developing control strategy and diagnostic system.