Today vehicle dynamics modelling is crucial in development of control systems and electronic components. The main cause of this growth is due to the technology of such systems, predominantly mechatronic. The aim of modelling is to obtain a mathematical-analytical description of a system which allows to investigate the relevant aspects of its behaviour and the influence that its components have on it. The more complex a model is, the more accurate the simulation of its behaviour is. The estimate of the vehicle dynamics is important to draw conclusions on driving stability, comfort and driving safety of new vehicle systems. Nowadays Hardware-In-the-Loop simulation (HIL) is one of the most important approach to verify control unit software before field test on the vehicle.