Attention-Deficit Hyperactivity Disorder (ADHD) is a prevalent neuropsychiatric disorder associated with significant impairment and distress throughout the lifespan. Adolescents with ADHD are twice as likely as neurotypical teen drivers to be involved in road accidents. Here, we describe the framework of ADRIS 2.1, an open-source, accessible, realistic virtual reality urban driving simulator that we customized for adolescents with ADHD. It presents 12 scenarios designed to estimate executive functions such as inhibition, working memory, planning, and attentional flexibility. Moreover, it evaluates attentional orientation and alertness levels during unexpected events, including congruent, incongruent and neutral stimuli. The simulator provides measures associated with driving performance, such as observation of the speed limit, the safety distance, and the maintenance of the correct lane. The new version, ADRIS 2.1, is provided with a driving navigator giving the user directions to reduce distraction while driving. Additionally, we used a stereo camera to film the driver during the session and three accelerometers underneath the pedals to monitor hyperactivity and motor correlates of attention e.g. heading. EMG heart signal was also collected as an indicator of emotional self-regulation. Pilot tests were conducted on two adolescents without ADHD to ensure the proper functionality of the system. Despite the need for further investigation into the efficacy of ADRIS 2.1, preliminary results suggest that this system is ready to be tested as a tool for assessing the driving abilities and behaviour of individuals with ADHD.