Mention Route 9 to anyone who lives in the communities west of Boston, and you are likely to conjure images of motorists maneuvering through stop-and-go traffic, and executing a complex series of U-turns simply to cross the thoroughfare and get from one shop to the next.

But regional planners imagine a future in which shoppers can travel from place to place on foot, bike, or public transit, with common areas where people can congregate. Suggestions include moving buildings closer to the street with parking in the back, eliminating sprawling parking lots in favor of compact garages and public green space, and constructing buildings that span Route 9 to create pedestrian connections.