“…Due to infrastructure limitations and the growing motorisation index in many countries, especially in developing countries, problems with transport congestion are increasing. Road transport generates the highest social costs, including the costs of road traffic accidents [11,53,57], environmental degradation [33,55] and congestion [21,32]. Almost 3,700 people are killed daily all over the world in road traffic accidents 1 Lublin University of Technology, Department of Automation, Nadbystrzycka 36, 20-618, Lublin, Polska, e-mail: j.caban@pollub.pl involving pedestrians or different transport modes such as vehicles, buses, motorcycles, bicycles and trucks [52].…”