FraST: Frankfurter Kreuz SUMO Traffic Scenario

Various traffic scenarios, whether synthetic or realistic, have been published for the traffic simulator SUMO. Many realistic scenarios containing various traffic situations were used in simulation studies on Cooperative-Intelligent Transportation Systems applications, such as Cooperative Awareness and Collective Perception. However, new applications like Maneuver Coordination (MC) are used in different traffic situations, like on-ramp merging and high-speed overtaking, which are not the focus of present realistic scenarios. To facilitate research in the field of MC, we present and showcase the Frankfurter Kreuz SUMO Traffic (FraST) scenario in this paper. This scenario models highway intersections according to actual usage statistics, presenting a challenging environment for MC.