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Objectives: This article focuses on the effect of road lighting on road safety at accesses to quantitatively analyze the relationship between road lighting and road safety.Methods: An artificial neural network (ANN) was applied in this study. This method is one of the most popular machine learning methods and does not require any predefined assumptions. This method was applied using field data collected from 10 road segments in Nanjing, Jiangsu Province, China.Results: The results show that the impact of road lighting on road safety at accesses is significant. In addition, road lighting has a greater influence when vehicle speeds are higher or the number of lanes is greater. A threshold illuminance was also found, and the results show that the safety level at accesses will become stable when reaching this value.Conclusions: Improved illuminance can decrease the speed variation among vehicles and improve safety levels. In addition, high-grade roads need better illuminance at accesses. A threshold value can also be obtained based on related variables and used to develop scientific guidelines for traffic management organizations. [ABSTRACT FROM AUTHOR]

• A novel collision warning system is proposed based on the visual road environment schema. • This schema can quantify drivers' unequal attention to different road environmental elements and visual fields. • The visual motion state of vehicles is calculated by the sensitivity matrix and the vision matrix. • The effectiveness of this novel system is examined by vehicle and driver characteristics. • A grey target decision-making model is built to comprehensively evaluate the system. Drivers pay unequal attention to different road environmental elements and visual fields, which greatly influences their driving behavior. However, existing collision warning systems ignore these visual characteristics of drivers, which limits the performance of collision warning systems. Therefore, this study proposes a novel collision warning system based on the visual road environment schema, in order to enhance the support for avoiding potential dangers in objects and areas that are easily overlooked by the drivers' vision. To capture the above visual characteristics of drivers, the visual road environment schema that consists of the semantic layer, the scene depth layer, the sensitive layer, and the visual field layer is established by using several different deep neural networks, which realizes the recognition, quantization, and analysis of the road environment from the drivers' visual perspective. The effectiveness of the novel collision warning system is verified by the driving simulation experiment from six indicators, including warning distance, maximum lateral acceleration, maximum longitudinal deceleration, minimum collision time, reaction time, and heart rate. Additionally, a grey target decision-making model is built to comprehensively evaluate the system. The results show that compared with the traditional collision warning system, the novel collision warning system proposed in this study performs significantly better and can discover potential dangers earlier, give timely warnings, enhance the vehicles' lateral stability and driving comfort, shorten reaction time, and relieve the drivers' nervousness. By integrating the drivers' visual characteristics into the collision warning system, this study could help to optimize the existing collision warning system and promote the mutual understanding between intelligent vehicles and human drivers. [ABSTRACT FROM AUTHOR]