Town05 road network modified and ready to use for traffic simulation in SUMO and co-simulation between SUMO and CARLA

OpenDRIVE files define the road geometry useful for driving simulation tools and include detailed information, such as speed limits, lane configuration, road markings, traffic signals, and elevation profiles that may vary along the road. The road network is organized in a hierarchical structure composed of roads, junctions, lanes and other infrastructure elements. In the XML file commonly used for traffic simulation, such as the road network file (net.xml) used in SUMO, for example, the network is represented through a graph-based structure consisting of edges (road segments), nodes (intersections) and lanes (the edge lanes). In OpenDRIVE files, speed limits are generally defined at the road level, whereas in net.xml files are stored at the lane level, with the speed attribute for each lane element. When converting the network dataset from OpenDRIVE to net.xml using Netconvert, if the speed value is defined at the road object level rather than at the lane level, a default speed limit is applied to the lane because the conversion cannot manage the data properly. This dataset contains an updated version of the OpenDRIVE file related to Town05 (as published by the CARLA maps website https://carla.readthedocs.io/en/latest/map_town05/ ), which has been modified to include speed limits at the lane level, consistent with the value assigned to the corresponding road element. This allows ready use of the network file, for example, using Netconvert for traffic simulations in SUMO. Another update implemented in the net.xml file for traffic simulation in SUMO is related to traffic lights. Indeed, CARLA uses specific landmark IDs for each traffic light and does not provide dedicated traffic lights for turns, unlike SUMO. If different signal states are associated with the same landmark ID, synchronisation between CARLA and SUMO cannot be guaranteed during co-simulation. The network file in net.xml format contains the logic of the traffic light control, ensuring proper co-simulation between SUMO and CARLA. This file can be used directly both for a stand-alone traffic simulation in SUMO and for co-simulation with CARLA, supporting proper synchronisation between the two simulators. The duration of the traffic light phases is assigned as a baseline, but it can be modified, as long as the association between landmark IDs and the corresponding manoeuvres remains unchanged. This work was supported by the Italian Ministry of Economic Development (MISE) under the project Epignosis (Project No. F/340008/03/X59).