In this paper, we propose an agent-based urban model in which the relationship between a central urban area and a suburban area is expressed simply. Allocation and bustle of a public facility where people stop off in daily life are implemented in the model. We clarify that transportation selection and their residence selection of residents make an effect to change the urban structure and environment. We also discuss how a compact urban structure and a reduction in carbon dioxide emissions are achieved with urban development policies and improvements on attractiveness of the facility for pedestrians and cyclists. In addition, we conduct an experiment of the exclusion of cars from the center of the city. The experimental results confirmed that the automobile control measure would be effective in decreasing the use of automobiles along with a compact urban structure.