This paper describes the use of video game engines as simulation environments that aid the development and testing of real-time vehicle controllers. The use of game engines for simulation is surveyed, with relevant technologies noted. The need to switch between different vehicle controllers, game engines and real vehicles gave rise to an integration architecture. The features of the architecture are described, including the execution model, message set and knowledge base. Adaptation of existing controllers, simulations and vehicles to this architecture is discussed. Issues of performance and scalability are addressed. An example is provided to illustrate the concepts.

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