diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8bcf4814a7..8c63d84f08 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -36,6 +36,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ### Fixed
 - Fixed a secondary exception that the `SumoTrafficSimulation` will throw when attempting to close a TraCI connection that is closed by an error.
 ### Removed
+- Removed `vehicle_type` from `AgentInterface`, instead get the vehicle type from scenario's agent missions.
 ### Security
 
 ## [0.5.0] - 2022-01-07
diff --git a/smarts/core/agent_interface.py b/smarts/core/agent_interface.py
index bab91ee0a4..114922556a 100644
--- a/smarts/core/agent_interface.py
+++ b/smarts/core/agent_interface.py
@@ -266,11 +266,6 @@ class AgentInterface:
     The choice of action space, this action space also decides the controller that will be enabled.
     """
 
-    vehicle_type: str = "sedan"
-    """
-    The choice of vehicle type.
-    """
-
     accelerometer: Union[Accelerometer, bool] = True
     """
     Enable acceleration and jerk observations.
@@ -293,7 +288,6 @@ def __post_init__(self):
         self.accelerometer = AgentInterface._resolve_config(
             self.accelerometer, Accelerometer
         )
-        assert self.vehicle_type in {"sedan", "bus"}
 
     @staticmethod
     def from_type(requested_type: AgentType, **kwargs):
diff --git a/smarts/core/controllers/__init__.py b/smarts/core/controllers/__init__.py
index 33b8ec35c1..88837f949d 100644
--- a/smarts/core/controllers/__init__.py
+++ b/smarts/core/controllers/__init__.py
@@ -66,7 +66,6 @@ def perform_action(
         controller_state,
         sensor_state,
         action_space,
-        vehicle_type,
     ):
         """Calls control for the given vehicle based on a given action space and action.
         Args:
@@ -84,13 +83,9 @@ def perform_action(
                 The state of a vehicle sensor as relates to vehicle sensors.
             action_space:
                 The action space of the provided action.
-            vehicle_type:
-                Vehicle type information about the given vehicle.
         """
         if action is None:
             return
-        if vehicle_type == "bus":
-            assert action_space == ActionSpaceType.Trajectory
         if action_space == ActionSpaceType.Continuous:
             vehicle.control(
                 throttle=np.clip(action[0], 0.0, 1.0),
diff --git a/smarts/core/plan.py b/smarts/core/plan.py
index 3998d884bc..7b001dfab9 100644
--- a/smarts/core/plan.py
+++ b/smarts/core/plan.py
@@ -26,7 +26,7 @@
 from dataclasses import dataclass, field
 from typing import Optional, Tuple, Union
 
-from smarts.sstudio.types import EntryTactic, TrapEntryTactic
+from smarts.sstudio.types import EntryTactic, TrapEntryTactic, VehicleSpec
 
 from .coordinates import Dimensions, Heading, Point, Pose, RefLinePoint
 from .road_map import RoadMap
@@ -185,16 +185,6 @@ class Via:
     hit_distance: float
     required_speed: float
 
-
-@dataclass(frozen=True)
-class VehicleSpec:
-    """Vehicle specifications"""
-
-    veh_id: str
-    veh_config_type: str
-    dimensions: Dimensions
-
-
 @dataclass(frozen=True)
 class Mission:
     """A navigation mission."""
diff --git a/smarts/core/scenario.py b/smarts/core/scenario.py
index 21c69b8725..f15546871f 100644
--- a/smarts/core/scenario.py
+++ b/smarts/core/scenario.py
@@ -40,7 +40,6 @@
     PositionalGoal,
     Start,
     TraverseGoal,
-    VehicleSpec,
     Via,
     default_entry_tactic,
 )
@@ -52,6 +51,7 @@
 from smarts.sstudio import types as sstudio_types
 from smarts.sstudio.types import MapSpec
 from smarts.sstudio.types import Via as SSVia
+from smarts.sstudio.types import VehicleSpec
 
 
 class Scenario:
@@ -689,7 +689,6 @@ def to_scenario_via(
                 road_map,
             )
             goal = PositionalGoal(position, radius=2)
-
             return Mission(
                 start=start,
                 route_vias=mission.route.via,
@@ -697,6 +696,7 @@ def to_scenario_via(
                 start_time=mission.start_time,
                 entry_tactic=mission.entry_tactic,
                 via=to_scenario_via(mission.via, road_map),
+                vehicle_spec=mission.vehicle_spec,
             )
         elif isinstance(mission, sstudio_types.EndlessMission):
             position, heading = to_position_and_heading(
@@ -711,6 +711,7 @@ def to_scenario_via(
                 start_time=mission.start_time,
                 entry_tactic=mission.entry_tactic,
                 via=to_scenario_via(mission.via, road_map),
+                vehicle_spec=mission.vehicle_spec,
             )
         elif isinstance(mission, sstudio_types.LapMission):
             start_road_id, start_lane, start_road_offset = mission.route.begin
diff --git a/smarts/core/smarts.py b/smarts/core/smarts.py
index 36e4270161..afa527eb26 100644
--- a/smarts/core/smarts.py
+++ b/smarts/core/smarts.py
@@ -573,7 +573,7 @@ def create_vehicle_in_providers(
                 provider.create_vehicle(
                     VehicleState(
                         vehicle_id=vehicle.id,
-                        vehicle_config_type="passenger",
+                        vehicle_config_type=vehicle._vehicle_config_type,
                         pose=vehicle.pose,
                         dimensions=vehicle.chassis.dimensions,
                         speed=vehicle.speed,
@@ -928,7 +928,7 @@ def _get_provider_state(self, source: str, action_space_pred) -> ProviderState:
             provider_state.vehicles.append(
                 VehicleState(
                     vehicle_id=vehicle.id,
-                    vehicle_config_type="passenger",
+                    vehicle_config_type=vehicle._vehicle_config_type,
                     pose=vehicle.pose,
                     dimensions=vehicle.chassis.dimensions,
                     speed=vehicle.speed,
@@ -1239,7 +1239,6 @@ def _perform_agent_actions(self, agent_actions):
                     controller_state,
                     sensor_state,
                     agent_interface.action_space,
-                    agent_interface.vehicle_type,
                 )
 
     def _sync_vehicles_to_renderer(self):
@@ -1354,10 +1353,15 @@ def _try_emit_envision_state(self, provider_state: ProviderState, obs, scores):
                         for paths in vehicle_obs.road_waypoints.lanes.values()
                         for path in paths
                     ]
+
+                veh_type = (
+                    v.vehicle_config_type if v.vehicle_config_type else v.vehicle_type
+                )
+                
                 traffic[v.vehicle_id] = envision_types.TrafficActorState(
                     name=self._agent_manager.agent_name(agent_id),
                     actor_type=actor_type,
-                    vehicle_type=envision_types.VehicleType.Car,
+                    vehicle_type=veh_type,
                     position=tuple(v.pose.position),
                     heading=float(v.pose.heading),
                     speed=v.speed,
diff --git a/smarts/core/vehicle.py b/smarts/core/vehicle.py
index df29ad011c..fbc9fb177f 100644
--- a/smarts/core/vehicle.py
+++ b/smarts/core/vehicle.py
@@ -394,9 +394,16 @@ def build_agent_vehicle(
             SceneColors.Agent.value if trainable else SceneColors.SocialAgent.value
         )
 
-        if agent_interface.vehicle_type == "sedan":
+        if mission.vehicle_spec == None:
+            vehicle_type = "passenger"
+            controller_type = "sedan"
+        else:
+            vehicle_type = mission.vehicle_spec.veh_config_type
+            controller_type = vehicle_type
+
+        if vehicle_type == "passenger":
             urdf_name = "vehicle"
-        elif agent_interface.vehicle_type == "bus":
+        elif vehicle_type == "bus":
             urdf_name = "bus"
         else:
             raise Exception("Vehicle type does not exist!!!")
@@ -406,7 +413,7 @@ def build_agent_vehicle(
                 vehicle_filepath = str(path.absolute())
 
         controller_parameters = sim.vehicle_index.controller_params_for_vehicle_type(
-            agent_interface.vehicle_type
+            controller_type
         )
 
         chassis = None
@@ -438,6 +445,7 @@ def build_agent_vehicle(
             id=vehicle_id,
             chassis=chassis,
             color=vehicle_color,
+            vehicle_config_type=vehicle_type
         )
 
         return vehicle
diff --git a/smarts/sstudio/types.py b/smarts/sstudio/types.py
index 9c11d73c07..e0afdecaa5 100644
--- a/smarts/sstudio/types.py
+++ b/smarts/sstudio/types.py
@@ -39,7 +39,7 @@
 from shapely.ops import split, unary_union
 
 from smarts.core import gen_id
-from smarts.core.coordinates import RefLinePoint
+from smarts.core.coordinates import RefLinePoint, Dimensions
 from smarts.core.default_map_builder import get_road_map
 from smarts.core.road_map import RoadMap
 from smarts.core.utils.id import SocialAgentId
@@ -464,6 +464,14 @@ class TrapEntryTactic(EntryTactic):
     """The speed that the vehicle starts at when the hijack limit expiry emits a new vehicle"""
 
 
+@dataclass(frozen=True)
+class VehicleSpec:
+    """Vehicle specifications"""
+
+    veh_id: str
+    veh_config_type: str
+    dimensions: Dimensions
+
 @dataclass(frozen=True)
 class Mission:
     """The descriptor for an actor's mission."""
@@ -482,6 +490,9 @@ class Mission:
     entry_tactic: Optional[EntryTactic] = None
     """A specific tactic the mission should employ to start the mission."""
 
+    vehicle_spec: Optional[VehicleSpec] = None
+    """Vehicle Specifications"""
+
 
 @dataclass(frozen=True)
 class EndlessMission:
@@ -503,6 +514,8 @@ class EndlessMission:
     """The earliest simulation time that this mission starts"""
     entry_tactic: Optional[EntryTactic] = None
     """A specific tactic the mission should employ to start the mission"""
+    vehicle_spec: Optional[VehicleSpec] = None
+    """Vehicle Specifications"""
 
 
 @dataclass(frozen=True)
@@ -521,6 +534,8 @@ class LapMission:
     """The earliest simulation time that this mission starts"""
     entry_tactic: Optional[EntryTactic] = None
     """A specific tactic the mission should employ to start the mission"""
+    vehicle_spec: Optional[VehicleSpec] = None
+    """Vehicle Specifications"""
 
 
 @dataclass(frozen=True)