The introduction focuses on the vehicle’s driveability problems, which can be different between Hybrid Electric Vehicle (HEV) configuration and a traditional Internal Combustion Engine (ICE)-based vehicle. All the possible the unwanted dynamics that can affect the driveline are presented, defining their typical vibration frequencies. The first part of this thesis treats every component which can be included in a complete modelling of the driveline: clutch, shaft, gearbox, differential, backlash, wheel, tyre and driving resistance. The first models to be considered are the simpler and linear ones. Then, to achieve more precision in the model behaviour, the non-linear and more sophisticated ones are explained and evaluated.