•Accommodation of heavy vehicles is crucial for safety and operations of roundabouts.•The issue is often managed at geometrical level only via vehicle swept path analysis.•To date, driving workload measures for at-grade intersections are not available.•Quantifying workload of heavy vehicle drivers when manoeuvring through roundabouts.•Proper acquisition of input data is the start for proper ascertainment of workload. Correctly designed roundabouts proved to have positive safety and functional performances. However, they are also affected by peculiar disadvantages. In particular, they are difficult to manoeuvre, especially for heavy vehicle drivers. Despite these concerns, there are currently no driving workload metrics devoted to roundabouts. A novel methodological approach is proposed for trying to quantify workload impinging on heavy vehicle drivers when manoeuvring through complex at-grade intersections. Proper acquisition of input data constitutes the starting point for future research about ascertainment of workload for these particular road scenarios. The described procedure enables recording steering wheel angles performed by a driver when manoeuvring an articulated lorry through a complex at-grade intersection. A field trial was carried out for verifying the practical feasibility of proposed method in capturing driver’s steering behaviour. Dynamic data acquired via global navigation satellite system instrumentation were related to actual driver’s steering wheel behaviour captured by camera frames. As a complement to the experiment, selected steering behaviour metrics were calculated. Steering Entropy attributed a high difficulty level to the manoeuvres performed through the roundabout, whereas High Frequency Component and Steering Reversal Rate showed intensity and occurrences of driver’s corrections needed for controlling position of the semitrailer at the ring. It appears that even a single roundabout may represent an arduous task for drivers. The study concludes with recommendations for further research about workload imposed by roundabouts to heavy vehicle drivers, with special attention to successions of closely spaced roundabouts.