An experimental platform of ABS/ASR integrated hydraulic system was introduced in the paper. Based on the theoretical analysis, the semi-empirical model of pressure regulation process of ABS wheel cylinder was established, then the pressure regulation process was measured and the model parameters were identified by the experiments. The change rate models of brake pressure of front and rear wheel cylinder were obtained in the regulation process of pressure increasing and dumping. The results showed that the model was accurate and could be applied in the simulation of ABS/ASR and pressure fine regulation of wheel cylinder.