Abstract: A method and apparatus utilizes a navigation system to identify a roundabout on a route for a primary object about to enter the roundabout. Sensor hardware is mounted at a plurality of locations about the roundabout. A controller determines locations of one or more secondary objects relative to the roundabout using sensor data generated by the sensor hardware, and signals the primary object when it is safe to enter the roundabout and avoid the secondary objects.

Abstract: A system for tracking pedestrians includes a detector configured to be mounted to an infrastructure component and configured to detect a pedestrian. A computing module is in communication with the detector and is configured to gather information from the sensor about the pedestrian.