Performance-critical embedded systems consist of hardware, software and physical systems. In order to meet the sophisticated design requirements of these systems, ASTRI has developed innovative co-modelling technologies for systems-level virtual prototypes. The system architecture is based on the SAE AS5506B standard (Architecture Analysis and Design Language, AADL) and the AADL Behaviour Annex (INRIA Polychrony). Different types of simulation could be carried out at the system level, including Model-In-The-Loop (MIL) simulation, Software-In-The-Loop (SIL) simulation, and Hardware-In-The-Loop (HIL) simulation. System-level virtual prototyping involving an integrated simulation enables performance prediction of the system prior to constructing physical prototypes.