The University of Minnesota, in cooperation with the Minnesota Department of Transportation (MnDOT), equipped a Navistar 9400 series truck tractor with the sensors and embedded control computers necessary to conduct various research projects on vehicle safety, and driver assistive systems. A lateral dynamic model of the truck was validated on MnDOT's test track, MnRoad. A real-time simulation framework for vehicle guidance and navigation was developed by integrating the vehicle dynamics model and a geospatial database of MnRoad. The objective of the vehicle guidance control and real-time simulation is to provide students with an opportunity to learn about vehicle control by designing a vehicle guidance system operating on a virtual test track. A vehicle dynamic model and a geospatial database developed in previous research were used for the vehicle guidance simulation. Students are required to complete the steering and guidance control design using the C language with skeleton code that was provided. Programs are cross compiled on a host machine and downloaded to one of the eight available target machines remotely. The guidance control program is run on the target computer controlling the virtual truck as if it is operating in the real world. A graphical user's interface was developed to visualize the simulation results on the user's local computer. The vehicle guidance control and simulation module are integrated into a senior/graduate level robotics class in the Department of Mechanical Engineering. This virtual vehicle laboratory helps students better understand vehicle dynamics and control through the design of real-time digital steering and guidance controllers operating in a risk-free simulation environment.