<p>How can I draw something in JPanel that will stay the same and not be repainted, I am doing a traffic simulation program and I want the road to be drawn once because It will not change. 
Thanks </p>

To my knowledge, no, unless there is a trick with transparent overlays.
Most graphical applications I saw (and did) just re-draw the whole panel on each repaint. Now, you can do that once, in a graphic buffer, and then just paint the whole background at once, quickly, by copying the graphic buffer to the JPanel. It should be faster than calling all graphical primitives to draw the road.
Or, the way some 2D games do, perhaps paint it once and update the moving parts, like sprites: it needs to erase the old place used by the sprites (restore the background there) and re-draw the sprites at the new place. So you still have a copy of the road in a graphic buffer but instead of re-drawing it whole each time, you update only some small parts. Can be slightly faster.