For implementing the simulations we have used Unreal Engine 4. We created a roughly 400m long road segment with curves where we had vehicles driving in both directions. The personal cars had to avoid each other, yield to emergency vehicles, yield to buses, and of course, remain on the road the whole time. We also implemented an entrance ramp and demonstrated that steering behaviors can handle merging traffic...
Our results show that steering behaviors work with both symmetric and asymmetric road traffic, and the road throughput (measured in vehicles per hour) can be increased by 72% for asymmetric road traffic.