PERMIT - A SUMO Simulator for Platooning Maneuvers in Mixed Traffic Scenarios

Automated driving will have a major impact on traffic. The impact can be particularly relevant under mixed traffic scenarios where automated vehicles will coexist with conventional and connected vehicles. In these scenarios, nonautomated vehicles can obstruct automated driving maneuvers, and the maneuvers can influence the mobility of nonautomated vehicles. Studies are hence necessary to understand the impact on traffic of a gradual introduction of automation. This paper contributes towards this objective by presenting PERMIT, an open-source platooning simulator based on SUMO and its platooning extension Plexe. PERMIT extends the current state of the art by simulating platooning maneuvers in mixed traffic scenarios where automated and non-automated vehicles coexist. PERMIT currently implements (as finite state machines) the join, merge, leave, split and leader leave maneuvers. This paper publicly releases PERMIT to the community.