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Road transport is the main source of pollution to the environment in urban areas; therefore, there is a need to accurately estimate the amount of exhaust gases emitted by motor vehicles. The development of systems for measuring emissions of exhaust gases caused the exit from stationary chassis dynamometers to real road test. This paper presents an analysis of emission data from the PEMS system for real driving cycles of various types of vehicles, complying with EURO2-EURO6 standards, fueled with petrol, LPG, and diesel in urban, rural, and motorway areas as well as detailing roundabouts. The results show that in the range of roundabouts, there is an increased emission of harmful exhaust components, such as CO 2 , THC, CO, and NOx. Due to the specific traffic conditions that prevail at the roundabout (acceleration, braking, acceleration to a certain speed), the methodology for creating an exhaust emission model for this type of objects has been proposed. Statistical analysis of the received boosted regression tree models based on the coefficient of regression, root mean square error, and mean absolute error and based on the visual assessment of the results show that the obtained models are well represented by real data. The obtained results of emission calculations on roundabouts may be used to identify areas of increased emission of harmful exhaust components, as well as an introduction to prepare new roundabout design guidelines concerning emission data.

Creating an emission model based on portable emission measurement system for the purpose of a roundabout