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+# Traffic–Vehicle Co-Simulation Framework
+
+This document provides an overview of the co-simulation framework used in this project, which integrates:
+
+- **SUMO traffic simulation**
+- **Traffic layer (C++ / FIXS)**
+- **Python controller**
+- **Simulink high-fidelity vehicle dynamics model**
+
+The figures below illustrate the system architecture and the message flow between different components under several modeling assumptions.
+
+---
+
+# 1. Co-Simulation Model Overview
+
+The following figure shows the overall structure of the co-simulation framework used in this project.  
+It illustrates how the traffic simulation layer, control layer, and high-fidelity vehicle model interact with each other.
+
+![Co-simulation model](images/FIXS_final_model.png)
+
+---
+
+# 2. Final model message Flow
+
+This figure illustrates the **Final and ideal message flow** for the co-simulation framework.
+
+In this architecture:
+
+- The traffic simulator provides vehicle states.
+- The controller computes control commands.
+- The high-fidelity vehicle model generates physically consistent vehicle responses.
+- The resulting states are fed back into the traffic simulator.
+
+This design represents the **target architecture** for fully consistent traffic–vehicle co-simulation.
+
+![Final message flow](images/Message_flow_1.png)
+
+---
+
+# 3. Current Implementation
+
+The following diagram shows the **current implementation** used in the project.
+
+Compared to the ideal framework, some components or data pathways may be different due to implementation constraints.
+
+This figure highlights how information currently flows between:
+
+- SUMO
+- Traffic Layer
+- Python controller
+- Simulink vehicle model
+
+In the current architecture, the **speed command applied to the ego vehicle has a one-step delay** due to the message exchange sequence. The main reason is that SUMO has two clients: Python and Traffic Layer.
+For implementation details, please refer to the Python control code.
+
+
+![Current message flow](images/Message_flow_2.png)
+
+---
+
+# 4. Baseline Model
+
+The baseline model represents a simplified configuration used for comparison with the proposed co-simulation framework.
+
+In this setup, the ego vehicle does **not obtain a speed command from the controller**.  
+Instead, vehicle states from the traffic simulator are directly passed to the **high-fidelity vehicle dynamics model**, which computes the vehicle response and returns the resulting states to the traffic simulatior.
+
+This configuration is used as a **reference case** for evaluating the impact of the controller and the co-simulation framework.
+
+![Baseline message flow](images/Message_flow_3.png)
+
+---
+
+# Notes
+
+This document provides a high-level overview of the simulation architecture.  
+More detailed explanations of each component and interface will be added in future updates.
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