The aim of the article is to present and validate a methodology for collecting road load data on a vehicle, driving on roads and analysis of a drive data signal under the wheel in the time domain, using FRF (Frequency Response Function) and the MTS 320 eight-poster inertia reacted road simulator. The elaborated drive data, was used to control the actuators forcing the movements of the wheels and the coupling part of the semi-trailer during durability tests. The road tests were carried out by registering physical variables in the time domain, by a set of sensors mounted on a vehicle. The data was collected from roads categorized as motorways, national and local roads. Differences between the variability of the parameters, collected on the roads and the variability of the drive data under the wheel, were determined for the particular types of roads, for loaded and unloaded vehicle. The obtained accuracy of reconstruction of the road load data conditions was as high as 97%. Therefore, the proposed method is suitable for reliable durability tests with use of the road simulator.