VEhicular NeTwork Open Simulator
Rubinet Lab, ECE Department
University of California, Davis


VENTOS is an integrated C++ simulator for studying vehicular traffic flows, collaborative driving, and interactions between vehicles and infrastructure through DSRC-enabled wireless communication capability. It is the main tool in C3PO project. Here are some of the features that we think that you’ll love:

  • Car-following models specifically for manual driving, ACC and CACC as well as down-grading CACC to ACC
  • Simulation of 'CACC vehicle stream' and 'CACC platoon'. Testing different speed profiles and studying local/string stability
  • Implementing a platoon management protocol that supports different maneuvers such as merge, split, entry, follower leave, platoon leader leave. You can find more details here.
  • Study the effect of Packet Loss Ratio (PLR) on string stability
  • Implementation of many Traffic Signal Control (TSC): fix-time, adaptive Webster, traffic-actuated, Longest Queue First (LQF), Oldest Job First (OJF)
  • Bi-directional communication with Econolite COBALT traffic controller through SNMP protocol
  • Study security attacks specially in collaborative driving using 'adversary module'. You can find more details here.
  • Study different Certificate Revocation List (CRL) distribution algorithms such as RSU-only, C2C Epidemic, Most-Pieces Broadcast (MPB), Intelligent CRL Exchange (ICE), etc. in VANET. You can find more details here.
  • Dynamic traffic routing algorithms using real-time traffic information in VANET to reduces the average delay as well as fluctuation of the average speed within the whole network. You can find more details here.
  • 'Automatic Incident Detection' in highway / arterial
  • Matlab scripts to plot different aspects of the simulation scenarios

Simulation Videos

Platooning scenarios (merge, split, leader leave and follower leave) using the 'Platoon Management Protocol' described in here.

Traffic Signal Control (TSC) algorithms in a single intersection: fix-time, adaptive Webster, traffic-actuated, Longest Queue First (LQF), Oldest Job First (OJF)

* All simulation videos are accessible from the Rubinet Youtube channel.

The Team

Chen-Nee Chuah

Professor (IEEE Fellow)
Electrical & Computer Engineering
chuah at
Dipak Ghosal

Computer Science
dghosal at
Michael Zhang

Civil & Environmental Engineering
hmzhang at
Mani Amoozadeh

Ph.D. Student, UCD
Architect and main
developer of VENTOS
maniam at
Hui Deng

Ph.D. Student, UCD
Car-following models
Vehicle platooning
huideng at
Huajun Chai

Ph.D. Student, UCD
Dynamic Traffic Routing
hjchai at
Arun Raghuramu

Ph.D. Student, UCD
VANET security
araghuramu at
Dylan Smith

B.S. Student, UCD
Dynamic Traffic Routing
dilsmith at
Philip Vo

M.S. Student, UCD
Traffic-signal control
foxvo at
Zhongyi Lin

M.S. Student, UCD
Embedded development
zhylin at
Bryan Ching

M.S. Student, UCD
Embedded development
bdching at

Source Code and Documentation

The main VENTOS source code is hosted on a private repository (for now). Please contact us in case you are willing to be a collaborator. Some of the modules are accessible publicly from below. If you have any VENTOS-related questions, please open an issue here.

VENTOS user manual can be downloaded from here.
VENTOS Hardware-in-the-Loop Manual can be downloaded from here.

If you use VENTOS, we would appreciate a citation of our work:

title={Platoon management with cooperative adaptive cruise control enabled by VANET},
author={Amoozadeh, Mani and Deng, Hui and Chuah, Chen-Nee and Zhang, H Michael and Ghosal, Dipak},
journal={Vehicular Communications},


VENTOS has been used over the years by different researchers to test their applications and protocols.

  • designing new actuated traffic signal controls (submitted).
  • Turan, Bugra and Ucar, Seyhan, "Vehicular Visible Light Communications", Visible Light Communications, InTech, 2017 (link).
  • Ucar, Seyhan and Coleri Ergen, Sinem and Ozkasap, Oznur and Tsonev, Dobroslav and Burchardt, Harald, "SecVLC: Secure Visible Light Communication for Military Vehicular Networks", Proceedings of the 14th ACM International Symposium on Mobility Management and Wireless Access, 2016 (link).
  • Zheng, Bowen and Lin, Chung-Wei and Yu, Huafeng and Liang, Hengyi and Zhu, Qi, "CONVINCE: A cross-layer modeling, exploration and validation framework for next-generation connected vehicles", Computer-Aided Design (ICCAD), 2016 (link).
  • Chai, Huajun and Zhang, H Michael and Chuah, Chen-Nee and Ghosal, Dipak and Smith, Dylan, "Dynamic Traffic Routing in a Network with Adaptive Signal Control", Transportation Research Board 95th Annual Meeting, 2016 (link).
  • Ucar, Seyhan and Ergen, Sinem Coleri and Ozkasap, Oznur, "Security vulnerabilities of IEEE 802.11p and visible light communication based platoon", Vehicular Networking Conference (VNC), 2016 (link).
  • Deng, Hui, "Analysis, modeling and simulation of micro scale traffic dynamics under different driving environments", UC, Davis PhD Dissertation, 2015 (link).
  • Amoozadeh, Mani and Raghuramu, Arun and Chuah, Chen-Nee and Ghosal, Dipak and Zhang, H Michael and Rowe, Jeff and Levitt, Karl, "Security vulnerabilities of connected vehicle streams and their impact on cooperative driving", IEEE Communications Magazine, 2015 (link).
  • Amoozadeh, Mani and Deng, Hui and Chuah, Chen-Nee and Zhang, H Michael and Ghosal, Dipak, "Platoon management with cooperative adaptive cruise control enabled by VANET", Vehicular communications Journal, 2015 (link).
  • Amoozadeh, Mani, "Certificate revocation list distribution in vehicular communication systems", KTH M.S. Thesis, 2012 (link).


VENTOS is distributed under the GNU GPLv3 license. You may copy, distribute and modify the software as long as you track changes/dates in source files. Any modifications to the code must also be made available under the GPL along with build & install instructions. VENTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. See the GNU GPLv3 for more details.

2229 Rubinet Lab, Kemper Hall
Electrical & Computer Engineering
University of California at Davis
One Shields Avenue, Davis, CA 95616-5294