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A Functional Virtual Prototyping full vehicle model for a tri-axial heavy-duty truck is built, and the non-linearity of suspension dampers and tires is also considered. With the trajectory of full vehicle gravity center, longitudinal tire force of front wheel, longitudinal acceleration, lateral acceleration, yaw rate and pitch angle as the evaluation indexes of brake property, the influences of system parameters including wheelbase, load shift, road surface roughness and separated road friction coefficient on brake efficiency, stability and ride comfort are analyzed. In addition, the interaction of brake and full vehicle dynamics is studied. Results show that small wheelbase and load shift may improve the brake efficiency of vehicles, small road surface roughness is beneficial to brake stability and ride comfort, and great frictional coefficient difference of separation road will worsen the brake efficiency and stability.