International Journal of Emerging Technology and Advanced Engineering

Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 4, Issue 4, April 2014)

Comparative Study of Simulators for Vehicular Ad-hoc

Networks (VANETs)
Narendra Mohan Mittal1, Savita Choudhary2
1,2
M-Tech. Student & MVN University, Palwal, Haryana, India;
Abstract— Vehicular Ad hoc Networks (VANETs) are
classified as an application of Mobile Ad-hoc Networks
(MANETs) that has the potential in improving road safety
and providing Intelligent Transportation System (ITS).
Vehicular communication system facilitates communication
devices for exchange of information among vehicles and
vehicles and Road Side Units (RSUs).The era of vehicular ad-
hoc networks is now gaining attention and momentum.
Researchers and developers have built VANET simulation
tools to allow the study and evaluation of various routing
protocols, various emergency warning protocols and others
VANET applications. Simulation of VANET routing protocols
and its applications is fundamentally different from MANETs
simulation because in VANETs, vehicular environment
impose new issues and requirements, such as multi-path
fading, roadside obstacles, trip models, traffic flow models,
traffic lights, traffic congestion, vehicular speed and mobility,
drivers behaviour etc. This paper presents a comparative
study of various publicly available VANET simulation tools.
Currently, there are network simulators, VANET mobility
generators and VANET simulators are publicly available. In
particular, this paper contrast their software characteristics,
graphical user interface, accuracy of simulation, ease of use,
popularity, input requirements, output visualization
capabilities etc.

Keywords-- Ad-hoc network, ITS (Intelligent

Transportation System), MANET, Simulation, VANET.
Figure 1.1: Working structure of Vehicular Ad-hoc Network
(VANET) [3]
I. INTRODUCTION
Vehicular Ad hoc Networks (VANET) is the subclass of Deploying and testing VANET involves high cost and
Mobile Ad Hoc Networks (MANETs). It is the most intensive labor, so simulation tools is preferred over
superior technology for Intelligent Transportation System outdoor experiment because it is simple easy and cheap.
(ITS) provides wireless communication among vehicles to The simulation tool leads the network and application
vehicles among road side units (RSUs), according to developers to use simulation in order to evaluate different
802.11p standard for end to end communication between simple or complicated and innovative solutions before
vehicles [1]. VANET provides wide range of safety implementing them. In this paper, we present the main
applications that looks for increasing safety of passengers, solutions available for VANET simulation, along with their
in which information is used to either trigger active safety strengths and weaknesses.
systems or presented to the driver. Besides safety
applications Vehicular Ad hoc Network (VANET) also II. OVERVIEW OF SIMULATION TOOL FOR VANET.
provide comfort and commercial applications to the road We have classified existing VANET simulation software
users such as audio/video sharing, electronic payments, into three different categories. They are (a) Vehicular
routes guidance, weather information, mobile E-commerce, mobility generator (b) Network simulator (c) VANET
internet access, etc. Fig. 1.1[3] shows the overall working simulators.
structure of Vehicular Ad hoc Network (VANET).
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 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 4, Issue 4, April 2014)
VANET mobility generators are used to generate
realistic movement traces of the vehicles motion to
increasing level of realism in VANET simulation. These
traces subsequently imported into a network simulator as
an input in order to study the performance of the protocol
application. Network simulators perform detailed packet-
level simulation of source, destinations, reception, route,
background load, links, data traffic transmission and
channels. Finally, VANET simulators provide both
network simulation and traffic flow simulation. In the next
few sections, we will discuss vehicular mobility generators,
network simulators and VANET simulators in greater depth
with their characteristics, functions.

III. VEHICULAR MOBILITY GENERATORS

VANET mobility generators are used to generate
realistic movement traces of the vehicles motion to
increasing level of realism in VANET simulation. These
traces subsequently imported into a network simulator as
an input in order to study the performance of the protocol
application. In this section we present the different
vehicular mobility generators and a comparison of them.
A. SUMO
Simulation of Urban Mobility (SUMO) is an open Figure 3.1: Graphical user interface of SUMO
source, highly portable microscopic road traffic simulation
package that deals very large number of nodes in A. MOVE
vehicular ad hoc network. It can be used on most of the Mobility model generator for Vehicular networks
operating system. Because of high portability and its GNU (MOVE) is a mobility generator built on top of the SUMO
General public license SUMO has become more popular (Simulation of Urban Mobility) and rapidly generates
and most widely used in vehicular ad hoc networks. It has realistic mobility models for VANET simulations. The
evolved into a full featured suite of traffic modelling MOVE’s output is a mobility trace file that consists of
utilities uses own formats for road networks and traffic realistic vehicle movement information which can be used
demand generation and routing utilities [4]. The main by popular simulation tools such as NS-2 or GloMoSim or
merits of SUMO is that it is OpenGL GUI based, highly QualNet. MOVE consists of two main components:
portable, open source, easy simulation set-up, portable Mobility model generator and traffic model generator [14].
libraries, imports different formats, collision free Mobility model generator provides a user friendly interface
movement and large number of map defined for better for generating mobility model for simulations using
understanding. But it has some limitations such as, less user SUMO. It also allows the user to create customized
friendly interface and its traces do not support NS-2, topology or import maps. And network traffic model
GloMoSim and QualNet. generator takes the SUMO trace file as the input and
generates the network traffic model as required by either
NS-2 or QualNet. It provides all the configurable option of
NS-2 TCL files, like specifying MAC, routing protocol to
use, etc.

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Mobility models: (a) Simple Model(SM), (b) Downtown
model (DM) and (c) Manhattan Model (MM). The main
advantages of Citymob is that it is portable, open source,
ease of setup and easy to use. But its biggest limitations is
that it generated traces does not support NS-2, GloMoSim,
QualNet, SWANS. And also real and user defined maps is
not available here.

Figure 3.2 Graphical user interface of MOVE [16]

A. FreeSim
FreeSim is an open source and portable microscopic and
macroscopic free-flow traffic simulator. Traffic and graph
algorithms can be easily created and executed for the entire
network or for individual vehicles or nodes. FreeSim is
ideal for Intelligent Transportation System (ITS) simulation Figure 3.3 Graphical user interface of Citymob 2.0. [35]
because Vehicles in FreeSim can communicate with the
system monitoring traffic on the freeways. FreeSim is IV. QUALITATIVE COMPARISON OF MOBILITY
licensed under the GNU& General Public License, and the GENERATORS
source code is available freely for download. The main In the Table I show the qualitative comparison of
merits of FreeSim is that it is GUI based, highly portable, various vehicular mobility generators like VanetMobiSim,
easy to simulation set-up, easy to use, and large number of SUMO, MOVE, FreeSim, and Citymob with respect to
examples available for better understanding. But it has several metrics that shown in table, there is no mobility
some limitations such as it does not import different generator that can fulfil all the desired capabilities needed
formats, and its traces do not support NS-2, GloMoSim, by the research community. Both FreeSim and Citymob
QualNet, SWANS. exhibits good software characteristics but these simulators
A. Citymob have limited in functionality. SUMO, MOVE, and
Citymob is a highly portable, open source, GUI based VanetMobiSim all have some good features like
mobility model generator generally used in Vehicular ad portability, open source, GUI based, Console, large number
hoc Networks (VANETs). Citymob implements three of available examples, ease of set up and ease of use.
different. However, only VanetMobiSim provides excellent trace
support.

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 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 4, Issue 4, April 2014)
TABLE I
Comparison of the studied mobility generators
Metrics VanetMobiSim SUMO MOVE Freesim Citymob

Portability Yes Yes Yes Yes Yes

Freeware Yes Yes Yes Yes Yes

Open source Yes Yes Yes Yes Yes

Console No Yes Yes No Yes

GUI Yes Yes Yes Yes Yes

Available examples Yes Yes Yes Yes No

Continuous development No Yes No No Yes

Ease of setup Moderate Moderate Easy Easy Easy

Ease of use Moderate Hard Moderate Easy Easy

User defined map Yes Yes Yes No No

Ns-2 trace support Yes No Yes No Yes

GloMoSim support Yes No Yes No No

QualNet support Yes No Yes No No

SWANS support No No No No No

XML based trace support Yes No No No No

Import different formats Yes Yes Yes No No

V. VANET SIMULATORS It supports three types o0f simulated nodes: (a) fixed
infrastructure nodes, (b) vehicles which are capable of
A. GrooveNet:
multi hopping data over one or more dedicated short range
GrooveNet is an open source hybrid simulator that communication (DSRC) channels,(c) mobile gateways
integrated both network and mobility simulator. It allows capable vehicle to vehicle (V2V) and vehicle to
communication between real and simulated vehicles. Infrastructure (V2I) communication. The main features of
GrooveNet’s modular architecture incorporates mobility, GrooveNet is that it supports simulation of very large
trip, and message broadcast models over physical layer and number of vehicles, user friendly interface and it supports
Link layer communication models. GPS messages which are broadcast periodically to inform
neighboring nodes.
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 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 4, Issue 4, April 2014)

Figure 5.2: TraNS (Integrating SUMO and NS-2)

C. NCTUns
National Chiao Tung University Network Simulator
(NCTUns) is a VANET simulator that combines both
traffic and network simulator in to a single module that
built using C++ programming language and supports high
level of GUI. It is a highly extensible and robust network
simulator in no need to be worry about the code
complexity.
Figure 5.1: GrooveNet. An example of GrooveNet
simulation.
B. TraNS
Traffic and Network Simulation Environment (TraNS) is
the first VANET simulator. It is a simulation tool that
integrates both mobility generator and network simulator
for conducting realistic VANET simulation. It provides a
tool to build realistic VANET simulations. TraNS also
provides a feedback between mobility model and vehicular
behavior. A separate version called Translite, has been built
for mobility model generation only without using
integrated NS-2 simulator for network simulation. TraNS
can operate in two modes: application-centric mode and
network centric mode. In the network-centric mode, there
is no feedback provided from NS-2 to SUMO. So the link
between NS-2 and SUMO is done through a parser. Parser
analyses the mobility trace file generated by SUMO
simulator and then converts it to a suitable format for NS-2
analyses the mobility trace file generated by SUMO
simulator and then converts it to a suitable format for NS-2
simulator. In the case of application-centric mode, the
feedback between NS-2 and SUMO is provided through an
interface called TraCI. In this mode SUMO and NS-2 must
run simultaneously. The main merits of TraNS are that it Figure 5.3: Graphical user interface of NCTUns
supports 802.11p standard, highly scalable and works under
Linux and Windows platforms.

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 International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 4, Issue 4, April 2014)
It supports parallel simulations for fixed network on Only TraNS and NCTUns support IEEE 802.11p
multi core machines. The main merits of NCTUns is that it technology and only TraNS and GrooveNet provides built-
can simulate IEEE 802.11a, IEEE 802.11b, IEEE 802.11e, in VANET applications. In the terms of ease of setup,
IEEE 802.16d, IEEE802.11g and IEEE 802.11 NCTUns is not preferred because it is very difficult to use.
technologies, and supports large number of nodes. NCTUns In the terms of ease of use, we preferred TraNS and
includes bidirectional and unidirectional communication. GrooveNet because of very user friendly GUI. TraNS and
Compared to TraNS, NCTUns combines traffic and GrooveNet were proposed to simulate vehicular ad hoc
network simulator together in a single module and returns network on the other hand NCTUns was proposed for
feedback to supports VANET. However, the maximum simulating the general network simulation purposes.
number of nodes that can be simulated by single simulation
by NCTUns is just 4096. But it has some limitations such VII. NETWORK SIMULATORS
as, complex set up procedure and it can works only on Network simulators perform detailed packet-level
Fedora 9 Linux platform. simulation of source, destinations, reception, route,
background load, links, data traffic transmission and
VI. COMPARISON OF VANET SIMULATORS channels.
In Table II shows a comparison of the various VANET
A. NS-2
simulators like TraNS, GrooveNet, and NCTUns with
respect of several metrics. Network Simulator (Version 2), called as the NS-2, is
All VANET simulators support different mobility simply an event driven, open source, portable simulation
models and provide microscopic traffic simulation. tool that used in studying the dynamic nature of
communication network. Several different NS-2 versions
TABLE II
Comparison of VANET simulators
have been released over the last few years; the latest
version of NS-2 is the NS-2.35. Users are feeding the name
Metrics TraNs GrooveNet NCTUns of a TCL simulation script as an input argument of NS-2
executable command ns. NS-2 uses two key languages one
is the C++ and second is the Object-oriented Tool
Command Language (OTCL). In NS-2 C++ defines the
Mobility SUMO GrooveNet NCTUns internal mechanism (backend) of the simulation objects,
generator and OTCL defines external simulation environment (i.e., a
frontend) for assembling and configuring the objects. After
VANET built- Road danger Vehicle None simulation, NS-2 gives simulation outputs either in form of
in application warning and warning and NAM files or trace files. In NS-2 some limitation can be
Support dynamic adaptive found in terms of the installation process on windows based
reroute rebroadcast operating systems. To run NS-2 on window based
environment a software program is used for creating Unix-
Ease of setup Moderate Moderate Hard like environment known as Cygwin; downloading and
installing of Cygwin on windows based system is quite
Ease of use Moderate Moderate Hard complex because of large size of packages of Cygwin.
Trip model Random, Djikstra, Manually B. OPNET
manually sightseeing defined Optimized Network Engineering Tool (OPNET) is a
defined commercial network simulator environment used for
simulations of both wired and wireless networks. Several
Intersection Junction- Managed by Managed different OPNET versions have been released over the last
model based right- by four few years; the latest version of OPNET is the OPNET 16.0.
of-way rules traffic lights traffic At present OPNET is licensed under Riverbed
lights technologies. It allows the user to design and study the
network communication devices, protocols, individual
Road topology Any Any Any applications and also simulate the performance of routing
protocol. It supports many wireless technologies and
standards such as, IEEE 802.11, IEEE 802.15.1, IEEE
802.16, IEEE 802.20 and satellite networks.
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Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 4, Issue 4, April 2014)
OPNET IT Guru Academic Edition is available for free D. QualNet
to the academic research and teaching community. It Quality Networking (QualNet) simulator is a highly
provides a virtual network environment that models the scalable, fastest simulator for large heterogeneous network
behavior of an entire network including its switches, that supports the wired and wireless network protocol.
routers, servers, protocols and individual application. The QualNet execute any type of scenario 5 to 10 times
main merits of OPNET are that it is much easier to use, faster than other simulators. It is highly scalable and
very user friendly graphical user interface and provide simulate up to 50,000 mobile nodes. And this simulator is
good quality of documentation. designed as a powerful Graphical User Interface (GUI) for
custom code development. The main merits of QualNet
simulator (Quality Networking), is that it is portable, highly
scalable and extremely powerful simulator. One of the
main merits of QualNet is that it is run on both Windows
and Unix/Linux platforms.

Figure 7.1: Graphical user interface of OPNET.

C. GloMoSim
Global Mobile Information System Simulator
(GloMoSim) is a scalable simulation environment Fig. 7.2:.QualNet in visual mode.
especially designed of MANET and its applications. It is
E. VanetMobiSim
open source, portable and ability to run on SMP (Shared
memory symmetric processor: memory simultaneously VanetMobiSim is an extension of the CANU Mobility
accessible by all programs. It supports millions of nodes as Simulation Environment (CanuMobiSim) which focuses on
a single simulation and includes a large set of routing vehicular mobility and features realistic automotive motion
protocols. It was retired in 2000 on the other side; Scalable models at both microscopic and macroscopic levels. At the
Network Technologies introduced the commercial version microscopic level it supports mobility models such as
of GloMoSim named as QualNet (Quality Networking) Intelligent Driving Model with Lane Changing (IDM/LC)
simulator. and Intelligent Driving Model with Intersection
Management (IDM/IM).

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Website: www.ijetae.com (ISSN 2250-2459, ISO 9001:2008 Certified Journal, Volume 4, Issue 4, April 2014)
It also supports car to infrastructure and car to car VIII. COMPARISON OF NETWORK SIMULATORS
communication, which supports traffic lights, multi-lane In Table III, shows a comparison of the various network
roads, separate directional flows stop signs and traffic signs simulators like NS-2, GloMoSim, QualNet and OPNET
at intersections. VanetMobiSim is based on JAVA and can with respect to various metrics. As shown in table III, NS-2
generate movement traces in different formats, supporting is not suitable for simulating very large networks but it is
different simulation for mobile networks including ns-2, popular because of some advantages such as easy to use,
GloMoSim, and QualNet. portability, open source. To simulating large networks
QualNet and OPNET simulators are most widely used
because these simulators are portable, user friendly GUI
and supports multiple wireless technologies.

Figure 7.3: VanetMobiSim (Separate Traffic and Network simulator)

Metrics
GloMoSim NS-2 NCTUns QualNet OPNET

GUI Yes No Yes Yes Yes

Distributed
Yes No Yes Yes Yes
simulation
Scalability High low Medium Very High High
Bi-directional, Bi-directional, Bi- directional, Bi- directional, Bi- directional, Omni-
Antenna support
Omni-directional Omni -directional Rotating Omni-directional directional
Support for
multiple wireless Yes No Yes Yes Yes
technologies

TABLE III Comparison of Network Simulators

IX. CONCLUSION Among the network simulators studied, NS-2, OPNET,

The increasing popularity and attention in VANETs has GloMoSim and QualNet all exhibit good software support.
prompted researchers to develop realistic and accurate However, only NS-2 does not support multiple wireless
simulation tools. In this paper, we make a comparative technologies and distributed simulation and also poor in
survey of several publicly available mobility generators, scalability. Finally, in terms of VANET simulators, we
network simulators, and VANET simulators. The mobility studied GrooveNet, TraNS, NCTUns, and MobiREAL.
generators studied include SUMO, VanetMobiSim, Both MobiREAL and TraNS involve the coupling of
MOVE, Citymob and FreeSim. MOVE, VanetMobiSim VANET mobility generators with network simulators. A
and SUMO all have traffic model supports and good survey of recently published papers shows that NCTUns
software features However, only VanetMobiSim provides and OPNET are more frequently used for VANET
excellent trace supports. FreeSim and Citymob both simulations than others. We realize that further refinement,
provide good software characteristics. extensions and contributions are needed before they can be
widely accepted and used for supporting VANET research.

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