ANVEL is an interactive, real-time modeling and simulation software tool built specifically to assist in the research, design, testing, and evaluation of intelligent vehicle systems. This engineering tool provides a flexible and scalable virtual environment to support development of autonomy algorithms in on-road and off-road situations. ANVEL includes a built-in, infinitely expandable library that includes vehicle, sensor, environment, and static and dynamic object models for quick customization. Its modular, open architecture and API facilitate scenario-focused control and co-simulation using a variety of programming languages. ANVEL is available in three editions (government, commercial, academic) to help different user bases solve their unique challenges through flexible simulation.