The social situation after the COVID-19 infection has entered an era where it is difficult to predict as VUCA , and technological innovations to solve environmental problems (carbon-free, global warming control, CO2 reduction and other environmental and energy problems, etc.), Front-loading, which assigns human resources into the upstream process, and large-scale usage of regenerative energy are required, and the control system design process also responded to these processes are becoming necessary. In the current situation where, open model data distribution to promote front loading is becoming popular, it is best to utilize the MBD(Model Based Design) method in order to cope with this situation. This time, we researched and developed using the MBD method in the development process of the control law to generate the Haptic steering feeling that simulates the steering feeling of the conventional vehicle in the SBW vehicle. The control law was implemented in a controller capable of RCP(Rapid Control Prototyping) to realize the MBD process. MBD utilization is effective because the development process utilizing MBD was able to achieve the prescribed research goals with a small number of people and in a short period of time. This is a proof that the use of MBD was effective. In this report, we report the novelty and the feasibility of the RI generation algorithm by applying the MBD, and a generalpurpose model (guideline / model). Also, the result of sensory evaluation can be immediately reflected in the Haptic generation law.