The verification of embedded software has become an important subject over the last years. This paper presents a new semiformal verification approach called SofTPaDS. It combines assertion-based and symbolic simulation approaches for the verification of embedded software with hardware dependencies. SofTPaDS shows to be more efficient than the software model checkers in order to trace deep state spaces and improves the state coverage relative to a simulation-based verification tool. The authors have successfully applied their approach to industrial automotive embedded software.