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Active Chassis Controls engineering has been developing a hardware-in-the-loop (HIL) simulation system for electric control unit (ECU) testing, evaluating and optimizing the interactions among the chassis control algorithms, and between the chassis control systems within the vehicle. This HIL system consists of physical vehicle mechanical component simulators, an actual electronic control unit, and a virtual 14-DOF vehicle simulation model in a computer system with a high-speed operating platform and data acquisition capability. It simultaneously confers advantages of both hardware testing and computer modeling. Different from a conventional bench tester which lend itself better to testing static or state driven scenarios, the HIL allows testing of dynamic scenarios which require careful synchronization of major signals (such as vehicle speed, steering wheel angle, engine speed, yaw rate, and lateral acceleration, etc.).