Microscopic Traffic Simulation Research Articles

Complexity Evaluation of Test Scenarios for Autonomous Vehicle Safety Validation Using Information Theory

The validation of autonomous vehicles remains a vexing challenge for the automotive industry’s goal of fully autonomous driving. The systematic hierarchization of the test scenarios would provide valuable insights for the development, testing, and verification of autonomous vehicles, enabling nuanced performance evaluations based on scenario complexity. In this paper, an information entropy-based quantification method is proposed to evaluate the complexity of autonomous vehicle validation scenarios. The proposed method addresses the dynamic uncertainties within driving scenarios in a comprehensive way which includes the unpredictability of dynamic agents such as autonomous vehicles, human-driven vehicles, and pedestrians. The numerical complexity calculation of the approach and the ranking of the scenarios are presented through sample scenarios. To automate processes and assist with the calculations, a novel software tool with a user-friendly interface is developed. The performance of the approach is also evaluated through six example driving scenarios, then through extensive simulation using an open-source microscopic traffic simulator. The performance evaluation results confirm the numerical classification and demonstrate the method’s adaptability to diverse scenarios with a comparison of complexity calculation ranking to the ratio of collision, near collision, and normal operation tests observed during simulation testing. The proposed quantification method contributes to the improvement of autonomous vehicle validation procedures by addressing the multifaceted nature of scenario complexities. Beyond advancing the field of validation, the approach also aligns with the broad and active drive of the industry for the widespread deployment of fully autonomous driving.

Measurement and analysis of heterogeneous road transport parameters using Smart Traffic Analyzer and SUMO Simulator:An experimental approach

The main objective of research work is to study the characteristics of heterogeneous road transport environment & compare its dynamic parameters with the performance metrics measurement in terms of error rate & accuracy for vehicle count and classification using Smart Traffic Analyzer (STA) and SUMO Traffic Simulator. SUMO GUI is a simple tool for microscopic traffic simulation and helps to obtain vehicle dynamic parameters in the easiest way. Experimental research is also carried out by capturing live traffic video at study area of four way intersection road and analyzed through STA. The outcome results from SUMO and STA explicit overall accuracy of 96.63 %, and 95.62 % for vehicle count with the error rate of 3.35% & 4.37%. Similarly for vehicle classification, it provides the overall accuracy of 97.21% and 83.01% with the error rate of 2.78% & 16.97% respectively.

Do the sparser access points have less impact on arterial traffic? A microscopic simulation-based study

A dynamic microscopic traffic flow simulation within a ring arterial context was developed to investigate the effects of access point spacing on urban arterial flow under a right-in-right-out access management system. The microscopic traffic flow model, centered on car-following and lane-changing behaviors, was established based on vehicle interactions. The car-following aspect encompasses free driving, car-following behavior, and deceleration and braking states while lane-changing considerations include decision-making and acceptable gap assessment. Experimental scenarios account for arterial traffic density, access traffic demand intensity, average access point spacing, and variation coefficient of access point spacing. The traffic flow and speeds within the ring arterial were evaluated across 5040 operational conditions (equating to 5880 simulation hours). The traffic flow trends and speed variations with density across different access spacing scenarios were analyzed. We made an intriguing discovery: the impact on arterial traffic flow increases with larger average access point spacing, challenging conventional traffic planning recommendations that advocate for greater spacing. Additionally, access traffic minimally affects the overall arterial flow when arterial traffic volume is low. By highlighting these critical insights, this study introduces novel considerations for designing and managing access points.

How Connected Cars Could Capture Cloud Dynamics for Solar Forecasting—Evidence from Two Simulation Scenarios

The rapidly increasing share of fluctuating electricity from photovoltaics calls for accurate approaches to estimate cloud motion, the primary source for the varying power supply. While local sensor networks are prominent in targeting forecast horizons too short for image‐based methods, they have minimal spatial coverage. This work presents the first step towards expanding those approaches to spatially scalable sensor networks: With the motivation of using automotive light sensors as a sensor network, two excerpts from a microscopic traffic simulation serve as simulative sensor networks. A fractal‐based cloud shadow pattern passes the sensor network areas with defined velocities and directions, which shall be estimated using the cumulative mean absolute error method. The evaluation results indicate that the more extensive observation areas compensate for the dynamics in the sensor network when compared to a reference work with a static sensor grid. Furthermore, this work shows how the estimates deteriorate with lower vehicle penetration rates (PR) and longer building shadows due to a lower solar elevation angle. At a penetration rate of 40%, the root mean square errors for both sensor networks are still below 5 ms−1. In conclusion, the spatiotemporal characteristics of a vehicle network offer a potential for estimating cloud movements.

Comparison of noise exposure cost and annoyance-related indicators in microscopic traffic simulations

Road traffic noise is one of the major sources of environmental noise and has been shown to increase risk of adverse health effects. For this reason, noise mapping is an efficient tool to assess and monitor city-wide noise levels in accordance with the Environmental Noise Directive (END). To relate these noise levels to the associated health effects, the noise map may be further analysed using exposure-response models, or with cost models that calculate the noise-related externalities of the traffic. With the use of microscopic traffic simulations, this assessment may be performed at a vehicle-specific level. A recently introduced methodology, the noise exposure cost, calculates the vehicle-specific contribution to the long-term social cost estimated at a macro-level based on the vehicle-specific noise contributions. However, the noise exposure cost methodology may not reflect the relative noise impact of individual vehicles, but rather solely reflect the noise contribution regardless of its relative impact to the noise levels at the time. The aim of this study is to investigate the possibility to use the linear sensitivity indicator as a basis for a non-linear weighting function in the noise exposure cost methodology, to allow the vehicle-specific noise exposure cost to better reflect the relative impact.

Impact of car electrification on urban noise pollution: a microscopic traffic simulation study

Noise pollution is a major health and well-being concern, being associated with, e.g., sleep disturbance, annoyance, and cardiovascular diseases. Road traffic is, by far, the largest contributor to this noise pollution in urban areas. With the growing electrification of cars in developed countries, it is commonly believed that road traffic noise pollution and the associated problems will disappear shortly in urban areas. However, at high speeds, the difference in noise emissions between internal-combustion-engine and electric vehicles is not significant, and at low speeds, the propulsion noise of electric cars is not negligible. Few works have quantitatively estimated the actual impact of passenger cars electrification on population exposure to noise, especially considering such aspects as the gradual transition towards a fully electric fleet. The present contribution thus aims to assess the evolution of population exposure to noise pollution, using a microscopic traffic simulation on the scale of an entire city, noise mapping, and various indicators, at multiple stages of this transition.

MetaFollower: Adaptable personalized autonomous car following

Car-following (CF) modeling, a fundamental component in microscopic traffic simulation, has attracted increasing research interest in recent decades. In this study, we propose an adaptable personalized car-following framework —– MetaFollower, by leveraging the power of meta-learning. Specifically, we first utilize Model-Agnostic Meta-Learning (MAML) to extract common driving knowledge from various CF events. Afterward, the pre-trained model can be fine-tuned on new drivers with only a few CF trajectories to achieve personalized CF adaptation. We additionally combine Long Short-Term Memory (LSTM) and Intelligent Driver Model (IDM) to reflect temporal heterogeneity with high interpretability. MetaFollower can accurately capture and simulate the intricate dynamics of car-following behavior while considering the unique driving styles of individual drivers. We demonstrate the versatility and adaptability of MetaFollower by showcasing its ability to adapt to new drivers with limited training data quickly. To evaluate the performance of MetaFollower, we conduct rigorous experiments comparing it with both data-driven and physics-based models. The results reveal that our proposed framework outperforms baseline models in predicting car-following behavior with higher accuracy and safety. To the best of our knowledge, this is the first car-following model aiming to achieve fast adaptation by considering both driver and temporal heterogeneity based on meta-learning.

A multi-objective method for large multi-lane roundabout design through microscopic traffic simulation and SSAM analysis

Urban traffic congestion poses a significant challenge, impacting both economic efficiency and environmental sustainability. Roundabouts, recognized for their ability to improve traffic flow and reduce collisions, have become a focal point in traffic management strategies in urban areas. Different types and sizes of single and multi-lane roundabouts can be used, including conventional and innovative roundabouts with small, medium or large size diameters. Many optimization models are available for designing conventional roundabouts but not large roundabouts. To partially cover this gap, the present paper introduces a novel approach integrating simulation-based analysis with a goal programming method to optimize large roundabout design. By leveraging advanced traffic simulation tools like AIMSUN Next and Surrogate Safety Assessment Models (SSAMs), this methodology evaluates multiple design scenarios to enhance traffic flow, safety, and environmental performance. A case study of a complex large roundabout in the Italian greenest and sustainable city demonstrates the efficacy of this methodological approach. The findings provide valuable insights for traffic and highway engineers, emphasizing a data-driven, holistic approach to sustainable traffic management and roundabout optimization.

Enhancing Urban Sustainability: Developing an Open-Source AI Framework for Smart Cities

To address the growing need for advanced tools that enable urban policymakers to conduct comprehensive cost-benefit analyses of traffic management changes, the Urbanite H2020 project has developed innovative artificial intelligence methods. Among them is a robust decision support system that assists policymakers in evaluating and selecting optimal urban mobility planning modifications by combining objective and subjective criteria. Utilising open-source microscopic traffic simulation tools, accurate digital models (or “digital twins”) of four pilot cities—Bilbao, Amsterdam, Helsinki, and Messina—were created, each addressing unique mobility challenges. These challenges include reducing private vehicle access in Bilbao’s city center, analysing the impact of increased bicycle traffic and population growth in Amsterdam, constructing a mobility-enhancing tunnel in Helsinki, and improving public transport connectivity in Messina. The research introduces five key innovations: the application of a consistent open-source simulation platform across diverse urban environments, addressing integration and consistency challenges; the pioneering use of Dexi for advanced decision support in smart cities; the implementation of advanced visualisations; and the integration of the machine learning tool, Orange, with a user-friendly GUI interface. These innovations collectively make complex data analysis accessible to non-technical users. By applying multi-label machine learning techniques, the decision-making process is accelerated by three orders of magnitude, significantly enhancing urban planning efficiency. The Urbanite project’s findings offer valuable insights into both anticipated and unexpected outcomes of mobility interventions, presenting a scalable, open-source AI-based framework for urban decision-makers worldwide.

Assessing the Impact of Adverse Weather on Performance and Safety of Connected and Autonomous Vehicles

Connected and Autonomous Vehicles (CAVs) might significantly enhance the transportation system by improving safety, accessibility, efficiency, and sustainability. However, a major challenge lies in ensuring CAVs can operate properly under diverse weather conditions, which have already proven to impair human driving capabilities. This pioneering study aims to bridge a crucial research gap by comprehensively assessing the performance of CAVs on traffic operations and safety across varying weather scenarios. Using microscopic traffic simulation in VISSIM and the Surrogate Safety Assessment Model (SSAM), this study evaluates key metrics, including average speed, delay, number of stops, travel time, and number of conflicts for different CAV market penetration rates. The analysis spans 21 scenarios under clear, light rain, heavy rain, and foggy conditions within a selected urban corridor in the United Arab Emirates. The results showed that the average speed rose by 55% in clear weather, while the average delay, the number of stops, travel time, and the number of accidents decreased by 50%, 50%, 95%, and 68%, respectively. In light rain, the average speed improved by 43%, while the average delay, number of stops, travel time, and the number of accidents reduced by 43%, 56%, 96%, and 74%, respectively. The average speed increased by 82% under heavy rain, while the average delay, the number of stops, the travel time, and the number of accidents all fell by 62%, 68%, 96%, and 74%, respectively. In fog, the average speed rose by 32%, while the average delay, average stop number, travel time, and the number of accidents decreased by 33%, 47%, 90%, and 83%, respectively. Overall, this paper highlights the need for resilient CAV systems adaptable to diverse environmental conditions. It helps advance the understanding of how CAVs can be optimized for safety and efficiency in urban settings, contributing to sustainable transportation solutions. It provides insights into the challenges and innovative approaches for CAV deployment in adverse weather, laying a foundation for future research and the broader implementation of these technologies in urban mobility. Doi: 10.28991/CEJ-2024-010-09-019 Full Text: PDF

Total capacity and LOS estimation of innovative and conventional roundabouts through macroscopic fundamental diagrams

Traffic congestion remains a significant problem, especially in urban areas. To avoid congestion phenomena, several measures can be adopted, including the construction of roundabouts and the control of the measures of effectiveness (MOEs) at intersections. This article compares different types of roundabouts by estimating the deterministic fundamental diagram (MFD) and using microscopic traffic simulations. The deduction of MFD for different roundabout types (single and double-lane, flower and turbo-roundabout) is based on reasonably simplified traffic and boundary conditions. MFDs are estimated through several OD traffic matrices, considering as outputs the values of the macroscopic traffic variable deduced in time intervals of 5 min and 1 h. The findings from this research, in terms of total capacity, travel times, and level of service (LOS) estimation, may be useful for traffic and highway engineers in many realistic applications to partially face congestion phenomena in urban areas. MFDs allow us to determine the best roundabout type based on the traffic demand and represent a parsimonious method for monitoring and controlling traditional and unconventional or smart roundabouts, even in the presence of connected and automated vehicles (CAVs).

Advances in terminal management: simulation of vehicle traffic in container terminals

AbstractControlling and managing traffic flows on internal roads in container terminals are crucial in achieving expected productivity levels and reducing negative externalities caused by congestion inside and outside the terminal areas. This paper proposes a simulation approach which terminal operators can use as a decision-support tool to assess the effects of their management strategies and improve terminal performance, resilience, and sustainability. A microscopic traffic simulation approach models key operations of a typical container terminal affecting road traffic flows. In particular, to estimate quantitative indicators, an import truck process is reproduced, considering the overlapping of the external truck and internal trailer flows. To measure environmental impacts, the model is extended with an instantaneous emissions model linked directly to the step-by-step traffic data. The proposed method is tested on a sector of the PSA Genova Pra’, the main Italian container gateway terminal. Performance indicators related to the terminal’s efficiency and sustainability are estimated, to compare alternative scenarios considering possible operational configurations and disturbance events, such as the closure of a part of the yard. By focusing on the interactions between vehicle flows and terminal equipment operations, this approach offers a new perspective on terminal operations, oriented both towards container terminal operators and stakeholders, such as road hauliers.

Enhancing Work Zone Safety: Evaluating Static Merge Strategies Through Microscopic Traffic Simulation

Background The utilization of merging control has been proposed as a strategy to maximize the capacity of roads in work zone areas. The static Early Merge (EM) and static Late Merge (LM) controls are extensively implemented among these strategies. Although many studies have investigated the efficacy of these controls through the analysis of field data or microscopic traffic simulations, such comparisons are frequently conducted under different work zone conditions, which can result in inconsistent, contradictory conclusions. Materials and Methods A simulation study was carried out using the VISSIM microscopic traffic simulator within a self-developed work zone featuring a 2-to-1 lane closure setup to comprehensively assess and contrast the traffic efficiency of the EM and LM controls. Furthermore, through a comprehensive analysis and comparison of network performance within the designed work zone across various scenarios, including queue length, vehicle delays, and travel time, the significant VISSIM parameters influencing the system's performance were identified. Results The analysis revealed that the parameters CC1 (headway time) and CC2 (longitudinal following threshold) from the car-following model exert more significant influence in the simulated work zone throughput than the Safety Distance Reduction Factor (SDRF) parameter from the lane-changing model. Discussion According to the simulation findings, implementing the EM control is preferable when drivers display aggressive behavior and maintain relatively short safety distances (i.e., low CC1 values). Conversely, opting for the LM control is more advisable in work zone areas where drivers demonstrate cautious driving tendencies and maintain longer safety distances (i.e., high CC1 values). Conclusion The efficacy of static EM and LM was analyzed in a 2-to-1 lane closure work zone on a freeway using the microscopic traffic simulator VISSIM. Simulation results were compared to identify the most relevant VISSIM parameters that influence work zone throughput. Our results indicate that the parameters CC1 and CC2 from the car-following model have a more substantial impact than the SDRF parameter from the lane-changing model. In particular, our comparison results suggest that the work zone throughput decreases in both the EM and LM scenarios as the values of CC1 and CC2 increase. Additionally, SDRF has a relatively negligible effect on the network performance of both merge strategies.

Electric vehicle eco-driving strategy at signalized intersections based on optimal energy consumption

Electric vehicles (EVs), which are a great substitute for gasoline-powered vehicles, have the potential to achieve the goal of reducing energy consumption and emissions. However, the energy consumption of an EV is highly dependent on road contexts and driving behavior, especially at urban intersections. This paper proposes a novel ecological (eco) driving strategy (EDS) for EVs based on optimal energy consumption at an urban signalized intersection under moderate and dense traffic conditions. Firstly, we develop an energy consumption model for EVs considering several crucial factors such as road grade, curvature, rolling resistance, friction in bearing, aerodynamics resistance, motor ohmic loss, and regenerative braking. For better energy recovery at varying traffic speeds, we employ a sigmoid function to calculate the regenerative braking efficiency rather than a simple constant or linear function considered by many other studies. Secondly, we formulate an eco-driving optimal control problem subject to state constraints that minimize the energy consumption of EVs by finding a closed-form solution for acceleration/deceleration of vehicles over a time and distance horizon using Pontryagin’s minimum principle (PMP). Finally, we evaluate the efficacy of the proposed EDS using microscopic traffic simulations considering real traffic flow behavior at an urban signalized intersection and compare its performance to the (human-based) traditional driving strategy (TDS). The results demonstrate significant performance improvement in energy efficiency and waiting time for various traffic demands while ensuring driving safety and riding comfort. Our proposed strategy has a low computing cost and can be used as an advanced driver-assistance system (ADAS) in real-time.

A Prediction Method for City Traffic Noise Based on Traffic Simulation under a Mixed Distribution Probability

Predicting and assessing urban traffic noise is crucial for environmental management. This paper establishes a traffic noise simulation method based on microscopic traffic simulation, utilizing a traffic simulation under a mixed distribution probability combining normal and exponential distributions. This method integrates a single-vehicle noise prediction model to compute the spatial distribution of noise. Comparison with empirical data demonstrates that the proposed model effectively predicts the level of traffic noise. The accuracy of the model is validated through comparison with measured data, showing minimum and maximum errors of 3.60 dB(A) and 4.37 dB(A), respectively. Additionally, the noise spatial results under microscopic traffic models are compared with those under line source models, revealing that the proposed model provides a more detailed and realistic noise spatial distribution. Furthermore, the noise variation patterns between stable and time-varying traffic flows are investigated. Results indicate that noise levels fluctuate under stable traffic flow, whereas under time-varying traffic flow, noise values exhibit a stepped change.

Real-Time Estimation of Origin–Destination Matrices Using a Deep Neural Network for Digital Twins

The digital twin, a real-time replica of physical systems, has garnered attention as a promising tool to strategize and evaluate solutions for complex real-world issues. However, developing digital twins in the field of transportation faces significant challenges related to the real-time estimation of dynamic origin–destination (OD) matrices constrained by computation time. To bridge this gap, microscopic traffic simulations with real-time synchronization are being researched. Nonetheless, the computational issue persists, emphasizing the need for more efficient OD estimation methods. In this regard, our objective is to reduce computation time in simulation-based methods by developing a data-driven metamodel using a deep neural network. The proposed model serves to map the correlation between the OD matrix and detector data. This model simplifies the computational process using hidden layers, rather than calculating complex interactions between vehicles in the traffic simulation. Compared to conventional methods, we evaluate the capability to estimate a reasonable OD matrix within a restricted time and validate our approach using detector data from Daejeon City, South Korea. The findings indicate that by combining our data-driven metamodel with the simultaneous perturbation stochastic approximation, it becomes feasible to estimate a reasonable OD matrix within a stipulated time frame, compared to the conventional method. Given a 1-min time frame, the proposed method outperforms the conventional simulation-based method by improving the calibration performance of traffic flow by 44.5 percentage points. This paper proposes a practical and versatile approach for real-time OD estimation, laying the foundation for extending microscopic traffic simulation into the digital twin.

Calibration of Microscopic Traffic Simulation in an Urban Environment Using GPS-Data

Accurate traffic models are of decisive importance for well-founded traffic engineering and represent the basic framework for comprehensive simulation studies as modelling of traffic demand. Using traffic count and speed measurements of road segments is a common approach for the calibration of a realistic traffic simulation although the data acquisition process can be at very extensive costs. From an academical point of view, there have been many studies addressing the problem of calibration. In this respect, the microscopic simulation software SUMO offers the usage of the tools flowrouter and routesampler for generating network simulations on the base of traffic count measurements. In this paper, we propose a robust method for the calibration of microscopic traffic simulations by using vehicle count and speed measurements from collected GPS-data. The developed approach is a two-step optimization process: The application of integer linear programming (ILP) as a priori optimization is followed by adopting an evolutionary algorithm for minimizing the a posteriori deviation between real and simulated traffic data. As a proof of concept, the proposed method is tested in a subnet-work model of the inner city of Friedrichshafen and compared with the ready-to-use tools from SUMO. The suggested method indicates a promising correlation between simulated and real traffic data showing better calibration results in comparison to the aforementioned functions SUMO provides. Since the approach is network-independent, it also offers the possibility of large-scale traffic calibration.

Bus Priority Procedure for Signalized Intersections Based on Bus Occupancy and Delay

This study proposes a bus prioritisation strategy at signalised intersections to enhance public transport reliability and attractiveness. Nowadays, bus prioritisation at intersections is conducted according to a first-come, first-served principle, lacking compatibility with future vehicle-to-infrastructure communication. A framework for prioritising buses based on their delay and occupancy was developed and tested in a SUMO microscopic traffic simulation subnetwork of the city of Ingolstadt. Buses are prioritised using a 25-level hierarchy. Four degrees of prioritisation interventions are implemented based on bus priority levels with signal cycles adjusted to advance preferred green phases. The timing of the prioritisation is based on an Estimated Time of Arrival (ETA) prediction that considers past speed and travel time data as well as bus stops that are on the way to the intersection. The prioritisation logic was tested in simulation scenarios with on- and off-peak conditions and with several buses requesting priority and varying degrees of priority. The results show that the developed prioritisation concept works, and prioritised buses benefit from a strong reduction in their travel times (up to 87 %) and number of stops. Buses with lower priority levels may experience deterioration in their travel time (up to 126 %) when arriving at the same time as a high-priority bus, but considering the fewer affected passengers and smaller delay, this seems acceptable.

HybridPy: The Simulation Suite for Mesoscopic and Microscopic Traffic Simulations

Mesoscopic, agent-based simulations efficiently model and assess entire regions’ daily activities and travel patterns, exemplified by smaller countries like Switzerland. The queue-based simulation represents a compromise between computational speed on the one hand and the necessity of detailed modeling infrastructure on the other hand. Thus, mesoscopic simulations enable an efficient and reasonably detailed analysis of the complex interplay between supply and demand in mobility research. Conversely, microsimulations excel at reproducing individual speed profiles and behavior by modeling the interactions between traffic participants, including pedestrians, bicycles, and scooters. Although allowing for more detailed system analysis, the downside is the high computational burden, which often prevents large-scale microscopic simulations from running in optimization or calibration loops. hybridPY, an extension of SUMOPy, aims to close the gap and benefit from both environments. The simulation suite allows the running of mesoscopic as well as microscopic traffic simulations based on the core idea: running a microscopic simulation in a smaller dedicated area, using the routes or mobility plans generated from a larger mesoscopic model. The main features of this software are: (i) import, editing and visualization of MATSim and BEAM CORE networks; (ii) conversion of MATSim plans to SUMO routes or plans within the SUMO area; (iii) configuring and running of MATSim simulations. The capability of hybridPY is demonstrated by two applications: the simulation of Schwabing, Germany, based on the MITO MATSim model, and the San Francisco municipality, USA, based on the mesoscopic BEAM CORE model of the entire San Francisco Bay area. Both scenarios demonstrate that the hybrid approach results in significant computational gains with respect to a pure microscopic approach.

SAFETY AND OPERATIONAL ASSESSMENT OF COOPERATIVE DRIVING SYSTEMS ON ROUNDABOUTS

This paper presents a simulation-driven method for assessing the safety and efficiency of traffic at roundabouts incorporating connected and automated vehicle (CAV) technology. Utilizing the newly proposed CAV-based factors specified by the Highway Capacity Manual (HCM) provided a practical framework for analyzing capacity dynamics across various traffic scenarios. Using microscopic traffic simulation on a roundabout model replicating real-world geometry and traffic attributes facilitated the identification of crucial behavioral parameters. This simulation spanned from smooth traffic scenarios to operational saturation, aiding in the study of mixed traffic scenarios during the transition to increasing CAV presence. Additionally, the study assessed the safety and traffic impact of a dedicated CAV lane using surrogate safety metrics. Aimsun software aided in model parameter calibration, which, combined with the Surrogate Safety Assessment Model (SSAM), supported safety analysis. Despite observed enhancements in roundabout performance with CAV integration, the benefits of a designated CAV lane highlighted the potential to reduce conflicts among vehicles. In conclusion, the paper emphasizes the overall performance enhancement achieved with CAVs at roundabouts while also providing insights for evaluating the potential of CAV technologies in future mobility management strategies.