In a world where Artificial Intelligence revolutionizes inference, prediction and decision-making tasks, Digital Twins emerge as game-changing tools. A case in point is the development and optimization of Cooperative Intelligent Transportation Systems (C-ITSs): a confluence of cyber-physical digital infrastructure and (semi)automated mobility. Herein we introduce Digital Twin for self-dRiving Intelligent VEhicles (DRIVE). The developed framework tackles shortcomings of traditional vehicular and network simulators. It provides a flexible, modular, and scalable implementation to ensure largescale, city-wide experimentation with a moderate computational cost. The defining feature of our Digital Twin is a unique architecture allowing for submission of sequential queries, to which the Digital Twin provides instantaneous responses with the â ȂIJstate of the worldâ Ȃİ , and hence is an Oracle. With such bidirectional interaction with external intelligent agents and realistic mobility traces, DRIVE provides the environment for development, training and optimization of Machine Learning based C-ITS solutions.