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The increasing amount of new assistance features in today's vehicles to ensure safe and reliable operations, imply increasingly complex systems. Since millions of test kilometers have to be driven to ensure a reliable system, simulation-based verification is becoming more important to reduce costs and time-to-market. Furthermore requirements, design and verification have to follow the stringent specifications from standards such as ISO26262 for functional safety. To overcome the complexity issues of safety-critical systems, a modelbased approach helps to unites all stakeholder, and helps non safety specialists to understand problems in the design. In this paper, we present a novel methodology to automatically generate testbenches for simulation based verification from a first safety analysis. Through early simulation with constraint random stimuli and parameters we are able to derive further requirements for real-time applications. Furthermore, these testbenches can be used through the whole safety-lifecycle. Our approach allows a tight and seamless integration of requirements, design and verification into the safety-lifecycle of ISO26262.