Automotive systems embed several electronic control units whose purpose is to help drivers in controlling vehicles, as well as guaranteeing the safety of vehicles? occupants. The occurrence of faults affecting these units can have dramatic impacts, and must be forecasted as earlier as possible during the conception of new vehicles. In this paper we propose a new fault-injection system based on a hardware-in-the-loop vehicle model. The main novelty of our system is the possibility of directly relating fault effects to vehicle?s dynamic response without performing long and expensive experiments on a prototype running on a test track.