Collaborative autonomous vehicles will appear in the near future and will transform deeply road transportation sys-tems, addressing in part many issues such as safety, traffic efficien-cy, etc. Validation and testing of complex scenarios involving sets of autonomous collaborative vehicles are becoming an important challenge. Each vehicle in the set is autonomous and acts asyn-chronously, receiving and processing huge amount of data in real time, coming from the environment and other vehicles. Simulation of such scenarios in real time require huge computing resources. This paper presents a simulation platform combining the real-time OPAL-RT Technologies for processing and parallel computing, and the Pro-SiVIC vehicular simulator from Civitec for realistic simulation of vehicles dynamic, road/environment, and sensors behaviors. The two platforms are complementary and their combin-ing allow us to propose a real time simulator of collaborative au-tonomous systems.