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Electronic Stability Program (ESP), also named Vehicle Dynamic Control (VDC), extends the capabilities of the Anti-lock Braking System and the Traction Control System. Firstly, a vehicle dynamic model with 16 DOF, including vehicle body submodel, wheel submodel, force submodel, tire submodel, engine submodel, transmission submodel, also containing braking submodel, and steering submodel is built under SIMULINK software. After completing the simulation under normal mode, A Real-Time Windows Target model under the external mode is produced. The Real-Time Windows Target model for ESP is upgraded to run under Matlab/Simulink/RTW software, to complete the ESP’s Hardware-in-the- Loop simulation (HILS) with the help of the I/O boards produced by the Advantech Co. and the I/O driver block library provided by the Real-Time Windows Target. In the end, an interface for controlling the simulation system is designed.