Extending SUMO for Lane-Free Microscopic Simulation of Connected and Automated Vehicles





ane-free traffic, microscopic modelling and simulation


This paper presents some new developments related to TrafficFluid-Sim, a lane-free microscopic simulator that extends the SUMO simulation infrastructure to model lane-free traffic environments, allowing vehicles to be located at any lateral position, disregarding standard notions of car-following and lane-change maneuvers that are typically embedded within a (lanebased) simulator. A dynamic library has been designed for traffic monitoring and lane-free vehicle movement control, one that does not impose any inter-tool “communication” delays that standard practices with the TraCI module introduce; and enables the emulation of vehicleto-vehicle and vehicle-to-infrastructure communication. We first summarize the various core components that constitute our  simulator, and then discuss the new capability to utilize the bicycle kinematic model, additionally to the usual double-integrator model, as a more realistic model of vehicle movement dynamics, particularly for a lane-free traffic environment. Finally, we developed the necessary components so that the bicycle model can alternatively be combined with the use of global coordinates for more realistic simulation in road networks with curvature, such as roundabouts.


Download data is not yet available.


D. Elliott,W. Keen, and L. Miao, “Recent advances in connected and automated vehicles,” Journal of Traffic and Transportation Engineering (English Edition), vol. 6, no. 2, pp. 109–131, 2019, ISSN: 2095-7564. DOI: https://doi.org/10.1016/j.jtte.2018.09.005.

M. Papageorgiou, K.-S. Mountakis, I. Karafyllis, I. Papamichail, and Y. Wang, “Lanefree artificial-fluid concept for vehicular traffic,” Proceedings of the IEEE, vol. 109, no. 2, pp. 114–121, 2021. DOI: https://doi.org/10.1109/JPROC.2020.3042681.

D. Troullinos, G. Chalkiadakis, D. Manolis, I. Papamichail, and M. Papageorgiou, “Lanefree microscopic simulation for connected and automated vehicles,” in 2021 IEEE International Intelligent Transportation Systems Conference (ITSC), 2021, pp. 3292–3299. DOI: https://doi.org/10.1109/ITSC48978.2021.9564637.

P. A. Lopez, M. Behrisch, L. Bieker-Walz, et al., “Microscopic traffic simulation using sumo,” in 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018, pp. 2575–2582. DOI: 10.1109/ITSC.2018.8569938.

C. Sommer, R. German, and F. Dressler, “Bidirectionally Coupled Network and Road Traffic Simulation for Improved IVC Analysis,” IEEE Transactions on Mobile Computing (TMC), vol. 10, no. 1, pp. 3–15, Jan. 2011. DOI: 10.1109/TMC.2010.133.

M. Rondinone, J. Maneros, D. Krajzewicz, et al., “iTETRIS: A modular simulation platform for the large scale evaluation of cooperative its applications,” Simulation Modelling Practice and Theory, vol. 34, pp. 99–125, 2013, ISSN: 1569-190X. DOI: https://doi.org/10.1016/j.simpat.2013.01.007.

B. Schünemann, “V2X simulation runtime infrastructure VSimRTI: An assessment tool to design smart traffic management systems,” Computer Networks, vol. 55, no. 14, pp. 3189–3198, 2011, ISSN: 1389-1286. DOI: https://doi.org/10.1016/j.comnet. 2011.05.005.

M. Naderi, M. Papageorgiou, I. Papamichail, and I. Karafyllis, “Automated vehicle driving on large lane-free roundabouts,” in 2022 IEEE International Intelligent Transportation Systems Conference (ITSC), accepted, 2022.

P. Polack, F. Altché, B. d’Andréa-Novel, and A. de La Fortelle, “The kinematic bicycle model: A consistent model for planning feasible trajectories for autonomous vehicles?” In 2017 IEEE Intelligent Vehicles Symposium (IV), 2017, pp. 812–818. DOI: https://doi.org/10.1109/IVS.2017.7995816.

M. Malekzadeh, I. Papamichail, M. Papageorgiou, and K. Bogenberger, “Optimal internal boundary control of lane-free automated vehicle traffic,” Transportation Research Part C: Emerging Technologies, vol. 126, p. 103 060, 2021, ISSN: 0968-090X. DOI: https://doi.org/10.1016/j.trc.2021.103060.

D. Troullinos, G. Chalkiadakis, I. Papamichail, and M. Papageorgiou, “Collaborative multiagent decision making for lane-free autonomous driving,” in Proceedings of the 20th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS), Virtual Event, United Kingdom, 2021, pp. 1335–1343. [Online]. Available: https://dl.acm.org/doi/10.5555/3463952.3464106.

V. K. Yanumula, P. Typaldos, D. Troullinos, M. Malekzadeh, I. Papamichail, and M. Papageorgiou, “Optimal path planning for connected and automated vehicles in lane-free traffic,” in 2021 IEEE International Intelligent Transportation Systems Conference (ITSC), 2021, pp. 3545–3552. DOI: 10.1109/ITSC48978.2021.9564698.

D. Troullinos, G. Chalkiadakis, V. Samoladas, and M. Papageorgiou, “Max-sum with quadtrees for decentralized coordination in continuous domains,” in Proceedings of the Thirty-First International Joint Conference on Artificial Intelligence, IJCAI-22, International Joint Conferences on Artificial Intelligence Organization, 2022, pp. 518–526. DOI: https://doi.org/10.24963/ijcai.2022/74.

M. Malekzadeh, D. Manolis, I. Papamichail, and M. Papageorgiou, “Empirical investigation of properties of lane-free automated vehicle traffic,” in 2022 IEEE International Intelligent Transportation Systems Conference (ITSC), accepted, 2022.




How to Cite

Troullinos, D., Chalkiadakis, G., Manolis, D., Papamichail, I., & Papageorgiou, M. (2022). Extending SUMO for Lane-Free Microscopic Simulation of Connected and Automated Vehicles. SUMO Conference Proceedings, 3, 95–103. https://doi.org/10.52825/scp.v3i.110

Conference Proceedings Volume


Conference papers

Funding data