Lane sensors are old tech. Over here, they've been installing lane monitoring cameras for this sort of thing.

What about the roundabout? If an intersection is sufficiently busy to require right of way control on the superior road, a roundabout would keep all traffic moving, making people take turns through the roundabout. Its also faster then a stop sign on the superior road, and traffic will slow down more when there are cars entering from the inferior road. And the footprint of a mini roundabout with one lane fits neatly inside a regular intersection, perfect for 2 lane roads.

Also safe for VC bicycles, and as long as the sidewalks are offset so that people aren't walking in the roundabout lane, also safe for peds too.