The growing number of vehicles saturates cities in terms of congestion and pollution. A Cybernetic Transportation System (CTS) appears to be a way to resolve those problems. Based on a network of clean driverless vehicles (the cybercars), CTS aims to improve safety and organization of urban transport by providing a door-to-door complement to efficient and fast mass transport. The simulation software presented in this paper has a goal to facilitate the development of such a transportation system. It simulates several cybercars in a dynamic virtual 3D environment, and provides sensors information in real vehicles. As it is easy to create scenarios containing various static and moving obstacles, evaluation of control algorithms in several situations is its main feature. The adopted architecture for the simulation tool also enables evaluation of road traffic scenarios constructed on various levels of interaction or cooperation among cybercars.