This paper looks at the off-line as well as the real-time simulation of complex non-linear 3D models for the dynamics of passenger cars and trucks and their application to the development and adoption of virtual and physical sensors. The ideas and methods to create highly precise mathematical models to generate these models are briefly described. Subsequently the simulation environment FASIM_C++ will be presented and applied to show the dynamic behavior of various examples. FASIM_C++ is based on a multibody systems approach for the mechanical part of the car system. Models for the most common sub-systems like front- and rear-axles are already available as part of a comprehensive library. Non-mechanical sub-systems along with electronic control units and control algorithms can easily be in-cluded by pre-defined interfaces to other simulation systems like e.g. MATLAB/SIMULINK and virtual test-benches like e.g. IPG CARMAKER . The potential as well as the limits of this approach are dis-cussed.