The objective of this thesis is to determine the position, value and type of connection between the different modules of an articulated vehicle through the use of a multibody software called "Simpack". In detail, the mean of transport that has been considered is a trolleybus moved by electric motors and equipped with autonomous driving. All the data have been provided by the company mentioned above, in fact, some parts could not be included for issues of corporate secrecy. During the discussion, it is explained how the following work is placed in the world's literature, starting with an analysis of the articles about autonomous driving and articulated vehicles; then, a detailed description of the trolleybus is made followed by the mathematical treatment of the elements used in the model such as the tire-asphalt contact, the longitudinal dampers and the tracks used to validate the results.