The Platooning Extension for Veins.

Plexe is an extension of the popular Veins vehicular network simulator which permits the realistic simulation of platooning (i.e., automated car-following) systems. It features realistic vehicle dynamics and several cruise control models, permitting the analysis of control systems, large-scale and mixed scenario, as well as networking protocols and cooperative maneuvers. It is free to download and easy to extend.

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If you use Plexe, please cite our work as

Michele Segata, Stefan Joerer, Bastian Bloessl, Christoph Sommer, Falko Dressler and Renato Lo Cigno, "PLEXE: A Platooning Extension for Veins," Proceedings of 6th IEEE Vehicular Networking Conference (VNC 2014), Paderborn, Germany, December 2014. [BibTeX, Details...]

Core contributors


  • Bugfix (20 Oct. 2016): We fixed a bug in Plexe-SUMO that might make vehicles misbehave for a platoon size larger than 8. If you are experiencing troubles, please update your Plexe-SUMO source from github, plexe-dev branch (go to github).
  • macOS Sierra (20 Oct. 2016): If you are having problems building Plexe-SUMO on macOS Sierra, please see building notes for macOS here.
  • Little documentation update (7 Sept. 2016): The documentation section now lists the Plexe-Veins source files together with their purpose. In addition the API section lists the Plexe API developed for specific platooning purposes. The full source code documentation is still in preparation, but this should help you getting started.
  • Plexe-2.0 released: The newest version includes several new features and bugfixes. See here for more details.
  • Please consider using development version: Plexe-1.1 is still based on old versions of Veins and SUMO. Several bugs have been fixed on newer versions of the software, so please consider using the development version of Plexe. See this page for more info.
  • Realistic engine model: We are now working together with people at the University of Naples on a detailed engine model for Plexe. Stay tuned!
  • Windows bugfix: Fix a Windows compiling issue with VC++. Thanks to Nirupama Ravi from UMass Amherst for providing me with the solution.
  • New controller model: A new CACC is now available in the development version. This is the platooning controller developed by Ploeg et. al. in "Design and Experimental Evaluation of Cooperative Adaptive Cruise Control".
  • Upgrade to Veins 4: Plexe-Veins is now based on Veins version 4.
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