The simulation model and hysteresis compensation control method of proportional relay valve of EBS for commercial vehicle were proposed focused on the hysteresis characteristic. First, the mathematic model for proportional relay valve was established, which reflected the hysteresis characteristic. Then, the response characteristic and hysteresis characteristic were simulated using that model in Matlab/Simulink environment, and the correctness and reliability of the model were validated through opened loop test. After that, a control method for proportional relay valve was developed by which the hysteresis characteristic could be compensated. Finally the effectiveness of this control method was validated through the off line simulation and the HIL test. Simulation and test results show that the hysteresis compensation control method proposed can improve the control characteristic and vehicle active safety.