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Vehicular Ad Hoc Networks (VANET) are emerging as one of the promising technologies for the future. It can be a specific case of real-time distributed systems. Ad hoc routing can be applied to vehicle-to-vehicle (V2V) communications, but some important points should be considered. Main issue in VANET is its high mobility. Once built routing path can be out of order very quickly and needs to be reconstructed with existing routing protocols. In this paper we propose Road Map Based (RMB) routing protocol for real-time vehicular ad hoc networks - routing algorithm which includes some techniques taken from geographical ad hoc routing. It handles mobility using road map and builds stable routing path on the road segments but not on the nodes. Routing path is done through distributed real-time participants of the network. We propose route discovery, data forwarding and route maintenance mechanisms.