An innovative method for the analysis of vehicle movements in roundabouts based on image processing

The objective of this paper is to propose a method, based on the image processing of field survey data, to analyze vehicles movements into roundabouts. This research study consisted of three stages: a field survey to collect vehicular flow images captured by video cameras, the processing of these images using a proprietary software (VeTRA—Vehicle Tracking for Roundabout Analysis), and finally, the analysis of the collected data. The main feature of the software is that it allows the automatic computation of the main variables necessary to rank and evaluate a generic roundabout: the entry/exit (E/E) matrix with classification of vehicles (e.g., heavy, light, and motorbikes), vehicle trajectories, and vehicular speed diagrams along the paths inside the roundabout. The processing system is robust enough to withstand classic problems affecting image processing such as variable wind conditions, cloud cover, shadows, and obstructions. Calibration and error evaluation have been deduced from data collected by a high precision Real Time Kinematic GPS video recording system mounted on a probe vehicle. Data of E/E matrices generated by VeTRA are compared with those manually counted on the corresponding video images. A case study of an existing roundabout is featured in the paper. The results indicate that the software has a high capability of generating the E/E matrix. The analysis of vehicular trajectories with both the plot of curvature diagrams and the corresponding speed diagrams enable the evaluation of driver behavior relative to the geometric shape of the roundabout. Copyright © 2011 John Wiley & Sons, Ltd.     

A model for evaluating the environmental and functional benefits of “innovative” roundabouts

This study looks at the singling out of a multi-parameter criterion for choosing conventional or innovative roundabout layouts, by taking functional, environmental and economic aspects into consideration. The performances of three conventional roundabouts (with different lane number at entries and through the ring), turbo-roundabouts and roundabouts with right-turn bypass lane on all the arms (flower roundabouts) have been compared in terms of vehicle delays and pollutant (carbon dioxide, nitrogen oxides, particle pollution (PM₁₀ and PM_2.5)) emissions. By means of closed-form capacity models and with the help of COPERT IV^© software, several traffic simulations have been carried out, referred to yearly peak flow values Q_max and ranging between 1300 and 3300 veh/h, starting from a typical annual traffic demand curve in urban areas. The estimation of cumulative vehicle delays and annual pollutant emissions, together with construction and maintenance costs has allowed working out overall costs for each roundabout under consideration, depending on the traffic demand. Thus, the proposed model allows finding the most cost-effective geometric solution as to overall costs for a comprehensive case record of traffic values.     

Identification of emission hotspots in roundabouts corridors

This study describes a methodology to quantify and characterize the vehicular emissions of functionally interdependent roundabouts at a corridor level. Corridor segments include those upstream of each roundabout, the circulating area, downstream of the roundabout as well as midblock sub-segments between adjacent roundabouts. The main purpose of the study is to identify the locations along the corridors where emissions tend to be consistently high. These locations are termed “Emission Hotspots”. The methodology is applied to four existing roundabout corridors in San Diego (California) and Avon (Colorado) in the United States, and in Mealhada and Chaves (Portugal). An extensive sample of second-by-second speed traces is available for these four corridors with roundabouts.The analysis shows that when roundabouts are fairly spaced and have similar geometric design features, no significant differences are observed between emissions of roundabouts located in the corridor. In such cases, the downstream sub-segments are the emission hotspots both in absolute terms (overall contribution on total emissions is higher than 34%) and per unit distance (22% higher than the average corridor value). When roundabouts are unequally spaced the highest emissions hotspots (more than 9% above the average corridor value) are found at the circulating area sub-segments. The results also demonstrate that the entry deflection angle has a slight impact on the spatial distribution of emissions especially in the case of closely spaced roundabouts.     

Comparative life-cycle assessment of conventional (double lane) and non-conventional (turbo and flower) roundabout intersections

This research studied and compared different construction techniques for the road subgrade, embankment and pavement of different types of roundabout intersections in order to assess their environmental sustainability. A Life Cycle Assessment (LCA) was carried out on double lane, turbo- and flower roundabouts.We considered virgin materials and reclaimed asphalt pavement (RAP) for the pavement construction. Also the environmental effects due to in situ lime stabilization of fine-grained soils were assessed in order to reduce the use of virgin material in road subgrades.The use of reclaimed asphalt pavement (RAP) can lead to a significant reduction in pollutant emissions and energy consumption (especially due to the lesser material transport) – though with a slightly different impact according to the different percentages employed – compared to the pavements constructed with virgin materials. The same consideration can be made for fine soils with in situ lime stabilization: on the one hand, the technique allows to improve significantly the mechanical properties of soils which would be otherwise dumped and, on the other, to provide considerable environmental benefits. The life cycle assessment of the pavement was carried out with the help of the PaLATE software (by comparing different maintenance scenarios) while emissions and energy consumption in the use phase at intersections were evaluated by means of closed-form models (to estimate vehicle delays and speeds of vehicles) and the COPERT software.Finally, the generalized costs covered in the whole life cycle of roundabouts (i.e. sum of construction, maintenance and environmental costs) were assessed and associated to the different construction options.     

Dynamic vehicular delay comparison between a police-controlled roundabout and a traffic signal

Effects of queues on motorists during rush hours are severe at intersections controlled by roundabouts. Traffic police are frequently used in order to optimize the traffic flow and to control queue length at such intersections. However, the question as to how efficient such system is, compared with traffic signal, is not clear from the dynamic delay point of view. In this study a criterion is being developed based on vehicular delays as the motorist join the queues and cross the stop-line. The adopted method avoids oversimplification of reality and prevents unrealistic assumptions. The data required for the study were mainly collected through video filming technique. The results, for a given set of geometric and traffic characteristics, indicate that both a police-controlled roundabout and a traffic signal act in a similar manner in terms of vehicular delay at a certain critical value. This critical value is considered to be the point of intersection between the curves representing traffic signal and roundabout on a delay–space diagram for the vehicles as they join the tail end of the queue until they cross the stop-line. Beyond the critical value, the effect of delays and buildup of queues at roundabouts will be excessive, compared to traffic signals. Before the critical value the delays at traffic signals are quite high compared to roundabouts. The study will assist the concerned authorities to operate the existing conditions, particularly the roundabouts, more efficiently. It will also be beneficial for the traffic planners and policy makers in making judicious decisions regarding control type at intersections.     

Limited priority merge at unsignalized intersections

The development of a new gap acceptance model based on limited priority for the major stream is discussed. Field observations were carried out to identify the mechanism of the merging process taking place at unsignalized intersections under congested conditions. It was found that the major stream headways were increased due to the merging vehicles, particularly at high flows. A limited priority system is proposed based on the assumption that the major stream vehicles would be slightly delayed to accommodate the minor stream vehicles. Equations for capacity in the limited priority system are presented assuming the major stream vehicles to have a bunched exponential headway distribution and the minor stream drivers to be both consistent and homogeneous. The gap acceptance model based on the limited priority was then applied to the performance of roundabouts. It was found that the limited priority merge can have a significant effect on the entry capacity at two-lane roundabouts. A near linear relationship between the entry capacity and the circulating stream flow at two-lane roundabouts was identified which was similar to the empirical results from the UK. ©     

Environmental,functional and economic criteria for comparing “target roundabouts” with one- or two-level roundabout intersections

The article describes a criterion based on functional, environmental and economic aspects for comparing conventional roundabouts with innovative one- or two-level roundabouts. We compared the performances of eight roundabout types, differing in geometric layout, number of lanes and traffic flow regulation from each other, with regard to vehicle delays and CO₂, NO_x, PM_2.5 and PM₁₀ pollutant emissions. Recently-designed roundabouts – target roundabouts and flyover roundabouts – have also been studied for their undoubted practical interest. By means of closed-form capacity models and CORINAIR methodology, several traffic simulations were carried out to examine a typical annual traffic demand curve in a suburban context, three different distribution test matrices for traffic flows (ρ1, ρ2, ρ3) and maximum annual traffic flow values Q_max ranging between 1300 and 3300 veh/h.Estimating vehicle delays and annual pollutant emissions, along with construction and management costs, allowed obtaining overall costs for each roundabout examined, in function of traffic demand and several other parameters. Thanks to these analyses, we identified the roundabout types which best suit to each traffic condition.     

Noise level in the vicinity of signalized roundabouts

The analysis, assessment and estimation of noise levels in the vicinity of intersections is a more complex problem than a similar analysis for roads and streets. This is due to the varied geometry of the intersections, differences in the loads of individual movements, participation of heavy vehicles and mass transport vehicles, as well as the various types of traffic management and traffic control. This article analyses the influence of intersection type and traffic characteristics on the noise levels in the vicinity of classic channelized intersections with signalization, roundabouts and signalized roundabouts. Based on the conducted measurements, it has been established that, with comparable traffic parameters and the same distance from the geometric centre of the intersection, the L_Aeq value for signalized roundabouts is 2.5–10.8 dB higher in comparison to classic channelized intersections with signalization and 3.3–6.7 dB higher in relations to the analysed roundabout. Additionally the differences between L_Aeq levels at individual entries at the same signalized roundabouts may reach the value of approximately 4.5 dB. Such situation is influenced by differences in the intersection geometry, diameter of the intersection’s central island, traffic flow type, traffic management at the entries and traffic volume, especially the amount and traffic movements of multiple axle heavy vehicles. These factors have been analysed in detail in relation to signalized roundabouts in this paper.     

Urban single-lane roundabouts: A new analytical approach using multi-criteria and simultaneous multi-objective optimization of geometry design,efficiency and safety

Building safe and effective roundabouts requires optimizing traffic (operational) efficiency (TE) and traffic safety (TS) while taking into account geometric factors, traffic characteristics and local constraints. Most existing simulation-based optimization models do not simultaneously optimize all these factors. To capture the relationship among geometry, efficiency and safety, we put forward a model formulation in this paper. We present a new multi-criteria and simultaneous multi-objective optimization (MOO) model approach to optimize geometry, TE and TS of urban unsignalized single-lane roundabouts. To the best of our knowledge, this is the first model that uses the multi-criteria decision-making method known as analytic hierarchy process to evaluate and rank traffic parameters and geometric elements of urban single-lane roundabouts. The model was built based on comprehensive review of the research literature and existing roundabout simulation software, a field survey of 61 civil and traffic expert engineers in Croatia, and field studies of roundabouts in the Croatian capital city of Zagreb. We started from the basis of Kimber’s capacity model, HCM2010 serviceability model, and Maycock and Hall's accident prediction model, which we extended by adding sensitivity analysis and powerful MOO procedures of the bounded objective function method and interactive optimization. Preliminary validation of the model was achieved by identifying the optimal and most robust of three geometric alternatives (V.1-V.3) for an unsignalized single-lane roundabout in Zagreb, Croatia. The geometric parameters in variant V.1 had significantly higher values than in the existing design V.0, while approaches 1 and 3 in variant V.2 were enlarged as much as possible within allowed spatial limits and Croatian guidelines, reflecting their higher traffic demand. Sensitivity analysis indicated that variant V.2 showed the overall highest TE and TS across the entire range of traffic flow demand and pedestrian crossing flow demand at approaches. At the same time, the number of predicted traffic accidents was similar for all three variants, although it was lowest overall for V.2. The similarity in predicted accident frequency for the three variants suggests that V.2 provides the greatest safety within the predefined constraints and parameter ranges explored in our study. These preliminary results suggest that the proposed model can optimize geometry, TE and TS of urban single-lane roundabouts.     

The effects of small roundabouts on emissions and fuel consumption: a case study

The effects of small roundabouts on emissions and fuel consumption were evaluated using the “car-following” method in a before/after study. The results showed that at a roundabout replacing a signalised junction, CO emissions decreased by 29%, NO_x emissions by 21% and fuel consumption by 28%. At roundabouts, replacing yield regulated junctions, CO emissions increased on average by 4%, NO_x emissions by 6% and fuel consumption by 3%. The results indicate that the large reductions in emissions and fuel consumption at one rebuilt signalised junction can “compensate for” the increase produced by several yield-regulated junctions rebuilt as roundabouts.     

Multi‐level traffic control at large four‐leg roundabouts

Yield control and full signalization are typical traffic control solutions that can be used at large roundabouts. In the face of increasing congestion issues, it is preferred to use yield control during off‐peak periods and full signalization during peak periods. To automatically accommodate time‐varying vehicular demands, a multi‐level traffic control (MTC) is developed to implement hybrid yield control and fully actuated control at large four‐leg roundabouts. With new application of traffic control devices and traffic detection system, the right‐of‐way can be assigned to entering and circulating vehicles in three modes. The ‘all entering’ mode is equivalent to a yield control. The ‘no entering’ and ‘concurrent entering’ modes are equivalent to a fully actuated control. On the basis of time headways and occupancy times that are detected on the entry and circulatory roadways, the mode of right‐of‐way assignment can be changed in response to actual traffic conditions. For a specific mode of right‐of‐way assignment, traffic signal operation is managed by some detectable traffic events that are happening. The results of the simulation experiments conducted by VISSIM indicated that: (i) MTC was stabilized at the ‘all entering’ mode during off‐peak periods and at the ‘concurrent entering’ mode during peak periods; (ii) MTC would typically change the mode of right‐of‐way assignment according to actual traffic conditions as vehicular demands increased from off‐peak to peak or decreased from peak to off‐peak; and (iii) statistically speaking, MTC inherited the operational advantages of yield control and fully actuated control, and could be effective in improving the operational performance of large four‐leg roundabouts for all hours of the day, regardless of the level of left‐turn ratios. Copyright © 2016 John Wiley & Sons, Ltd.     

Improving noise assessment at intersections by modeling traffic dynamics

Three families of road noise prediction models can be distinguished. Static noise models only consider free-flow constant-speed traffic with uniformly distributed vehicles. Analytic noise models assume that all vehicles are isolated from one another but account for their mean kinematic profile over the network. Micro-simulation noise models relax the hypothesis of no interaction between vehicles and fully capture traffic flow dynamic effects such as queue evolution. This study compares the noise levels obtained by these three methodologies at signalized intersections and roundabouts. It reveals that micro-simulation noise models outperform the other approaches. Particularly, they are able to capture the effects of stochastic transient queues in under-saturated conditions as well as stop-and-go behaviors in oversaturated regime. Accounting for traffic dynamics is also shown to improve predictions of noise variations due to different junction layouts. In this paper, a roundabout is found to induce a 2.5 dB(A) noise reduction compared to a signalized intersection in under-saturated conditions while the acoustic contributions of both kinds of junctions balance in oversaturated regime.     

Influence of priority taking and abstaining at single-lane roundabouts using cellular automata

Existing roundabout simulation models fail to consider all types of driver behavior which compromises their accuracy and ability to accurately evaluate roundabout performance. Further, these non-compliant driver behaviors, including priority taking and priority abstaining, are inconsistent with existing traffic flow theories. In this paper, a new cellular automata model, C.A.Rsim, is developed and calibrated with field data from five single-lane roundabouts in four northeastern states. Model results indicate that approximately 20% of the individuals in the driver population are inclined to priority taking and approximately 20% are inclined to priority abstaining behavior, though the observed levels of these types of behavior are naturally lower and vary with traffic volume. The model results also corroborate other research indicating that current models can overestimate capacity at higher circulating volumes, possibly a result of the jamming effect produced by priority taking behavior. The reduction in priority abstaining behavior, which is observed at older roundabouts, significantly reduces delay and queue length in certain traffic volumes. C.A.Rsim is also more parsimonious than many existing microsimulation models. These results provide insight on how variations in conflicting flow (i.e., traffic volume and turning movement balance) impact the amount of observed non-compliant behavior.     

A probabilistic model for the behaviour of traffic at a roundabout

A discrete-time, Markov chain model is proposed to describe the behaviour of traffic travelling on a single-lane roundabout and queueing on approach roads to enter the roundabout. A general origin-destination matrix is allowed for trip ends, there is an arbitrary number of approach roads and there is room for a general number of vehicles on each weaving section. Attention is given to the equilibrium régime at an approach subject to heavy traffic conditions. It is shown that for such an approach the moments of the distribution of the length of the queue of waiting vehicles may be found by a heavy traffic approximation.     

Safety in the road environment: a driver behavioural response perspective

The existing literature on road safety suggests that a driver's perception of safety is an important influence on their driving behaviour. A challenging research question is how to measure the perception of safety given the complex interactions among drivers, vehicles and the road setting. In this paper, we investigate a sample of driver evaluations of the perception of safety associated with a set of typical road environments. A roundabout was selected as the context for the empirical study. Data was obtained by a computerised survey using the video-captured road and traffic situations. A controlled experiment elicited driver responses when faced with a mixture of attributes that describe the roundabout environment. An ordered probit model identified the contribution of each attribute to the overall determination of the perception of safety. An indicator of perceived safety was developed for a number of typical road and traffic situations and for different driver segments.     

The joint analysis of injury severity of drivers in two-vehicle crashes accommodating seat belt use endogeneity

The current study contributes to the existing injury severity modeling literature by developing a multivariate probit model of injury severity and seat belt use decisions of both drivers involved in two-vehicle crashes. The modeling approach enables the joint modeling of the injury severity of multiple individuals involved in a crash, while also recognizing the endogeneity of seat belt use in predicting injury severity levels as well as accommodating unobserved heterogeneity in the effects of variables. The proposed model is applied to analyze the injury severity of drivers involved in two-vehicle road crashes in Denmark.The empirical analysis provides strong support for the notion that people offset the restraint benefits of seat belt use by driving more aggressively. Also, men and those individuals driving heavy vehicles have a lower injury risk than women and those driving lighter vehicles, respectively. At the same time, men and individuals driving heavy vehicles pose more of a danger to other drivers on the roadway when involved in a crash. Other important determinants of injury severity include speed limit on roadways where crash occurs, the presence (or absence) of center dividers (median barriers), and whether the crash involves a head-on collision. These and other results are discussed, along with implications for countermeasures to reduce injury severities in crashes. The analysis also underscores the importance of considering injury severity at a crash level, while accommodating seat belt endogeneity effects and unobserved heterogeneity effects.     

Traffic performance of shared lanes at signalized intersections based on cellular automata modeling

Shared lanes at signalized intersections are designed for use by vehicles of different movement directions. Shared lane usage increases the flexibility of assigning lane grouping to accommodate variable traffic volume by direction. However, a shared lane is not always beneficial as it can at time result in blockage that leads to both capacity and safety constraints. This paper establishes a cellular automata model to simulate traffic movements at signalized intersections with shared lanes. Several simulation experiments are carried out both for a single shared lane and for an approach with a shared lane. Simulation of a single shared lane used by straight‐through and right‐turn (as similar to left‐turn in the USA) vehicles suggests that the largest travel delay occurs when traffic volumes (vehicles/lane) of the two movement streams along the shared lane are at about the same level. For a trial lane‐group with a shared lane, when traffic volumes of the two movement streams are quite different, the shared lane usage is not efficient in terms of reduction in traffic delay. The simulation results are able to produce the threshold traffic volume to arrange a shared lane along an approach. Copyright © 2013 John Wiley & Sons, Ltd.     

Operational performance comparison of four unconventional intersection designs using micro‐simulation

Several unconventional intersection designs have been proposed as an innovative approach to mitigate congestion at heavily congested at‐grade signalized intersections. Many of these unconventional designs were shown to outperform conventional intersections in terms of the average control delay and the overall intersection capacity. Little research has been conducted to compare the performance of these unconventional intersections to each other under different volume conditions. This study evaluated and compared the operational performance of four unconventional intersection schemes: the crossover displaced left‐turn (XDL), the upstream signalized crossover (USC), the double crossover intersection (DXI) (i.e., half USC), and the median U‐turn (MUT). The micro‐simulation software vissim (PTV Planung Transport Verkehr AG, Karlsruhe, Germany) was used to model and analyze the four unconventional intersections as well as a counterpart conventional one. The results showed that the XDL intersection constantly exhibited the lowest delays at nearly all tested balanced and unbalanced volume levels. The operational performance of both the USC and the DXI was similar in most volume conditions. The MUT design, on the other hand, was unable to accommodate high approach volumes and heavy left‐turn traffic. The capacity of the XDL intersection was found to be 99% higher than that of the conventional intersection, whereas the capacity of the USC and the DXI intersections was about 50% higher than that of the conventional intersection. The results of this study can provide guidance on choosing among alternative unconventional designs according to the prevailing traffic conditions at an intersection. Copyright © 2012 John Wiley & Sons, Ltd.     

Special provisions for left turns at signalized intersections to increase capacity and safety

Heavy left-turns at intersections are not only difficult to accommodate but also often cause traffic accidents. Such problem can be reduced by adopting an exclusive left-turn signal phase, but in this case the cycle length needs to be extended and the overall intersection capacity reduced. This problem is particularly important in such countries as Korea where unprotected left turns are rarely used. Innovative intersection designs and operational methods for avoiding these problems are presented and their effects of increasing capacity and reducing vehicle delay are analyzed. They rule out the requirement for exclusive left-turn phase while accommodating a large volume of left-turns quite safely.