To operate a vehicle, the driver must function as part of a closed loop control system with multiple input sources and feedback paths. The Hardware-in-Loop test rig is an immersive virtual environment representing this driving experience with reliability and realism. To achieve this, it provides sensory cues - visual and haptic to the driver. The vehicle is represented by a detailed, physics-based mathematical model. The external environment viz., geometrically correct roadways, vehicular traffic provide real world driving experience when coupled with the capable display system.