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Eugeny Toropov1

Anton Tumasov

Andrey Vashurin

Danila Butin

Evgeniy Stepanov1

1Nizhniy Novgorod State Technical University, Russian Federation

Received: 17 March 2023
Revised: 25 May 2023
Accepted: 15 June 2023
Published: 30 June 2023


Conducting laboratory and field testing is a classic approach to the development and certification of vehicles and their automotive components. These processes are costly and time-consuming. The serial installation of mechatronic systems in the car forced software and electronic systems engineers to master a new approach to testing and development – “physical” simulation (Hardware-in-the-loop). The aim of the research in this article is to develop, implement and validate a “physical” simulation method for evaluating the performance of Electronic Stability Control (ESC) systems. In this research, an ESC HIL-testbench, a mathematical model of the vehicle curvilinear movement in Adams Car, and a method for converting it into a Simulink-model, that allows generating a C-code, were developed and implemented. To assess the adequacy and correctness of the “physical” simulation, full-scale dynamic manoeuvres were carried out on the object of research – the Gazelle Next vehicle with ESC-system “Bosch ESP 9.1”. In this article, the results of road tests and simulations, as well as an assessment of their convergence, are presented in tabular and graphical forms. The maximum discrepancy was 19% with the maximum allowable one up to 25% in accordance with the standard ISO 19635.


C-code, ESC system, field-testing, hardware-in-the-loop testing, HIL-testbench, Simulink


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This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0)

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December 2023

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How to Cite

E. Toropov, A. Tumasov, A. Vashurin, D. Butin, E. Stepanov,  Hardware-in-the-Loop Testing of Vehicle’s Electronic Stability Control System. Applied Engineering Letters, 8(2), 2023: 70–79.

More Citation Formats

Toropov, E., Tumasov, A., Vashurin, A., Butin, D., & Stepanov, E. (2023). Hardware-in-the-Loop Testing of Vehicle’s Electronic Stability Control System. Applied Engineering Letters8(2), 70–79.

Eugeny Toropov, et al. “Hardware-In-The-Loop Testing of Vehicle’s Electronic Stability Control System.“ Applied Engineering Letters, vol. 8, no. 2, pp. 70–79, 

Eugeny Toropov, Anton Tumasov, Andrey Vashurin, Danila Butin, and Evgeniy Stepanov. 2023. “Hardware-In-The-Loop Testing of Vehicle’s Electronic Stability Control System.” Applied Engineering Letters 8 (2): 70–79.

Toropov, E., Tumasov, A., Vashurin, A., Butin, D., and  Stepanov, E. (2023). Hardware-in-the-Loop Testing of Vehicle’s Electronic Stability Control System. Applied Engineering Letters,  8(2), pp.70–79. doi: 10.18485/aeletters.2023.8.2.4.