Application of Vehicular Ad Hoc Networks (VANETs) aims to help in the solution of some problems that have arisen in road transportation systems via short-range, low-latency mobile communication. The application of V2X (Vehicle-to-Everything) communication technologies to the next generation of Advanced Driver Assistance Systems (ADAS) is essential to the extension of the operational design domain (ODD) of the systems to provide safe, secure, and efficient automated driving solutions. Due to the safety-critical nature of the problem, the large-scale testing of V2X enabled ADAS solutions to evaluate and measure the anticipated quality and functionality of the experimental system is of great significance. This article proposes a novel ADAS application prototyping framework, using declarative programming, built on top of the popular Artery/OMNeT++ simulator. The framework is capable of simulating V2X-enabled ADAS applications using accurate network simulation and realistic simulated traffic on real-world maps. The solution features XML descriptions for application specification. The sensor model of Artery is used to provide information to applications. By using the simulator, one can conclude the performance of the applications and discover locations, circumstances and design patterns, where design limits should apply.