Simulation tools for autonomous vehicles are in high demand today in the research field, in fact simulation provides experimentation less expensive than a real test of the system, with a simulation we are able to gain in terms of time for the realization of the system, we are also able to anticipate problems that could effect it and to measure the impact of the system's actions on his environment. During the internship we integrated two different types of simulators : a robotics simulator and a microscopic traffic simulator. With this simulation system, the autonomous vehicle can be inserted in a real traffic situation to study the interaction of the sensors and the actuators of the system with the environment and the others vehicles.