In driving simulation, a scenario includes definitions of the road environment, the traffic situation, simulated vehicles' interactions with the participant's vehicle and measurements that need to be collected. The scenarios need to be designed in such a way that the research questions to be studied can be answered, which commonly imply exposing the participant for a couple of predefined specific situations that has to be both realistic and repeatable. This article presents an integrated algorithm based on Dynamic Actor Preparation and Automated Action Planning to control autonomous simulated vehicles in the simulation in order to generate predefined situations. This algorithm is thus able to not only plan driving actions for autonomous vehicles based on * Corresponding author. specific tasks with relevant contextual information, but also handle longitudinal transportation of simulated vehicles based on the contextual information in an automated manner. The conducted experiment shows that the algorithm is able to guarantee repeatability under autonomous traffic flow. The presented algorithm can not only benefit the driving simulation community, but also benefit relevant areas, such as autonomous vehicle and in-vehicle device design by providing them with an algorithm for target pursue and driving task accomplishment, which can be used to design a human-vehicle cooperation system in the coming era of autonomous driving.