The pressure change rate (PCR) of the brake chamber is the key control parameter and evaluation index in the pneumatic braking system for intelligent braking. The PCR threshold value of commercial vehicle brake chambers for braking comfort is analyzed. The PCR measurement method based on a laminar flow resistance tube is proposed, and the PCR test system is designed. The simulation model of a PCR test system for commercial vehicle brake chambers is presented. By analyzing the simulation and experimental results, it is validated that the PCR test system of commercial vehicle brake chambers has the function of measuring PCR in real time. Finally, according to the MSA (Measurement System Analysis) evaluation method, the performance of the PCR test system for commercial vehicle brake chambers is analyzed, and the correctness and applicability of the test system are verified.