Abstract: A bus pneumatic braking circuit delay control method is proposed in this research. Considering the delay characteristics of bus pneumatic braking circuit, the mathematical model of bus pneumatic braking circuit was established. The simulation models were built using Matlab/Simulink and advanced modeling environment for simulation of engineering (AMESim) software, respectively. The bus pneumatic braking circuit delay characteristic was analyzed by the combination methods of theoretical deduction and simulation experiments. Based on close-loop feedback control theory, the method to control bus pneumatic braking circuit delay was proposed. The delay controller was designed using PID control algorithm and the comparison between the results of experiment and simulation was implemented. Simulation shows that the designed delay controller could reduce delay effectively and it could be a good support for developing the bus pneumatic braking control system.