omnet++ Simulation of VANETs using OMNeT++ and Artery The Artery Simulation Framework


Artery ( is a simulation framework for OMNeT++. It is designed to simulate the ETSI ITS-G5 protocol stack which is used in European VANETs. Currently, it is using OMNeT++ in version 5.0. It is completely open source and under active development.

Feature Overview:

  • Day One applications like Cooperate Awarenes Message (CAM) and Decentralized Environmental Notification Message (DENM) specified by ETSI ITS-G5
  • It provides common Facilities for this applications
  • It allows rapid prototyping to create new applications easily
  • Geographic routing, which is handled by Vanetza (
  • Vanetza also covers the Basic Transport Protocol (BTP)
  • It uses Veins ( or INET ( as IEEE 802.11p MAC layer; these provide also various physical layer wave propagation models
  • Realistic vehicle movement provided by the open source traffic simulator SUMO (
  • An easy way to create different traffic scenarios (like traffic jams or weather influences)

How does Artery work?

Artery is basically composed of four parts. First, there is the network simulation which handles the sending and receiving of packets. This is based on OMNeT++ networks, where Veins or INET provide reasonable realistic models of the radio medium. Also, Veins and INET both provide an implementation of the IEEE 802.11 physical and link layers. You are free to choose which framework you want to use by changing the networks configuration file.

The routing between the network participants is done by Vanetza. Vanetza includes topological ITS-G5 routing algorithms like the Single Hop Broadcast (SHB) as well as geographic routing like GeoBroadcasts (GBC). Each ITS-G5 station in the network is represented by a Vanetza Router. Currently, only vehicles are used as ITS-G5 stations but Road Side Units (RSU) are on the roadmap already. Based on the chosen routing algorithm, the router determines the next hop in the network and sends the packet down to the physical layer, which is provided by either Veins or INET.

Applications are the reason why packets are created at first hand. The application layer is provided by Artery. The Day One applications mentioned by ETSI are already implemented and generate Cooperative Awareness (CA) and Decentralized Environmental Notification (DEN) Messages according to the standard's definition. For triggering DEN messages, the definition of proper trigger scenarios is needed. For this purpose the Storyboard can be used. It allows to define scenario conditions as well as effects to provoke various traffic scenarios like accidents, weather conditions or traffic jams. According to the traffic situation, the application triggers the appropriate DEN message.

Last but not least, there is the traffic simulation provided by SUMO. SUMO and Artery are connected using the TraCI interface. TraCI allows for reading information about the current state of each vehicle inside the simulation as well as changing vehicle parameters. Changing vehicle parameters is mainly used by the Storyboard to achieve above mentioned traffic situations. The maps used by SUMO can be derived from real maps with realistic traffic flows (like or Open Street Map) or synthetic scenarios.