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The increasing contribution of electronic and mechatronic content to the vehicle value requires rethinking the vehicle design and engineering processes. The present paper describes an approach hereto, based on virtual and physical prototype testing of heterogeneous systems. A key element is the integration between 3D geometry-Based Models (FE, MBS) and 1D multi-physics system-theoretic models for simulating complex devices (hydraulics, actuators, specific sensors) and processes (combustion, thermal, flow). Embedding control laws paves the way to Model-ln-the-Loop (MIL) and Software-In-the-Loop (SIL) concepts. By linking the virtual models to hardware systems on a physical test-bench, the static and dynamic performance of the rest of the vehicle system (suspension, body…) can be represented, enabling “Hardware in the Loop testing” (HIL). The “Vehicle-in-the-Loop” (VIL) validation finally allows the evaluation of all system dependencies and system interconnections.