Versatility is key to making simulations realistic. The dSPACE Automotive Simulation Models (ASM) tool suite simulates cyclists and pedestrians in addition to passenger cars and trucks. Truck-trailer combinations and motorcycles have recently been added as well. With their special characteristics in terms of kinematics and dynamics, they complement and enrich sensor simulation in particular and make it possible to simulate critical traffic situations, for example, between vehicles and truck-trailer combinations in urban traffic or on the highway. The new simulation possibilities confirm the suitability of ASM for autonomous driving.