Abstract: To address the problem that friction coefficient is often simplified as a constant in vehicle braking system simulation and its temperature-dependent variation is neglected, a braking torque simulation method considering temperature-dependent friction characteristics was proposed for a multi-disc dry carbon ceramic brake. Literature data and self-designed dynamometer test results were used to establish a piecewise friction coefficient-temperature model for carbon ceramic friction discs. A variable friction coefficient braking simulation model was built on the Modelica platform by integrating a brake temperature simulation module and a torque calculation module. Full-size inertia dynamometer tests were carried out to validate the model. The tests found that the variable friction coefficient model gave a mean absolute percentage error of 3.53% and a determination coefficient R² of 0.934 for braking torque prediction. Braking time relative error was 2%, which was 77.8% lower than that of the constant friction coefficient model. Results show that the proposed variable friction coefficient braking simulation model can describe braking torque variation with temperature rise more accurately and has better dynamic response description capability and prediction accuracy than the constant friction coefficient model.