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.

Show me some examples »

I want to download Plexe »

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


  • libFOX crash fix on MacOS (3 Mar. 2017): An upgrade to libFOX causes the SUMO GUI to crash on MacOS. Please see the building for MacOS for the fix.
  • Documentation updated (3 Nov. 2016): We updated the documentation for the "Extending Plexe" tutorial. The tutorial now includes the list of changes made to the code to implement a new controller, as well as a diff to "formally" visualize all the changes.
  • Documentation updated (2 Nov. 2016): The documentation now lists also the set of relevant files modified in Plexe-SUMO.
  • New tutorial (28 Oct. 2016): We added a new tutorial on including non-platooning vehicles in your simulation and setting transmit power and physical layer bitrate from your code.
  • 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.
  • More »