A detection and warning system is provided for a railroad crossing. The system comprises a sensor configured to be mounted on an underside of a gate arm of a railroad crossing gate to detect a presence of a vehicle or other object that is obstructing the railroad crossing. The system further comprises a communication interface coupled to the sensor. In response to a detection of the vehicle or the other object, the communication interface to relay a warning signal indicative of a possible collision on the railroad crossing with the vehicle or the other object.

An apparatus for use with a railway safety system having a circuit for enabling and disabling a safety device when trains are approaching or within a railway crossing. The apparatus may include an override switch, a flag, and a light, and may generate a control signal received by and configured to override the safety device circuit. The flag and the light may indicate to approaching trains that the safety device of the railway safety system has been overridden.

A crossing gate mechanism includes an electric motor driving a main shaft, wherein the main shaft is configured to couple to a crossing gate arm, a position detection unit configured to detect a position of the main shaft, an electronic switching device configured to operate in different switching states, and a programmable control unit configured to control operation of the switching device based on a detected position of the main shaft in combination with a programmed switching state for the detected position.

An automated counterbalance system includes a crossing gate mechanism with an electric motor, a sensing device and a motor control unit, a crossing gate with a crossing gate arm and one or more counterweights, wherein the crossing gate arm is operated by the crossing gate mechanism, wherein the at least one sensing device is configured to monitor an electrical characteristic of the electric motor, and wherein the motor control unit comprises at least one processor and is configured to determine a counterbalance of the crossing gate based on the electrical characteristic of the electric motor and a movement of the crossing gate arm.

An automated counterbalance system includes a crossing gate mechanism with an electric motor, a sensing device and a motor control unit, a crossing gate with a crossing gate arm and one or more counterweights, wherein the crossing gate arm is operated by the crossing gate mechanism, wherein the at least one sensing device is configured to monitor an electrical characteristic of the electric motor, and wherein the motor control unit comprises at least one processor and is configured to determine a counterbalance of the crossing gate based on the electrical characteristic of the electric motor and a movement of the crossing gate arm.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for monitoring vehicles traversing a dedicated roadway that includes an at-grade crossing. In some implementations, a system includes a central server, a gate system, and sensors. The gate system provides access to an at-grade crossing for vehicles. The sensors are positioned in a fixed location relative to a roadway, the roadway including the at-grade crossing. Each sensor can detect vehicles on the roadway. For each vehicle, each sensor can generate sensor data and observational data from the generated sensor data. Each sensor can determine a likelihood that the detected vehicle will approach the at-grade crossing by comparing the likelihood to a threshold. In response, each sensor can transmit data to the gate system that causes the gate system to allow the autonomous vehicle access to the at-grade crossing prior to the autonomous vehicle reaching the gate system.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for monitoring vehicles traversing a dedicated roadway that includes an at-grade crossing. In some implementations, a system includes a central server, a gate system, and sensors. The gate system provides access to an at-grade crossing for vehicles. The sensors are positioned in a fixed location relative to a roadway, the roadway including the at-grade crossing. Each sensor can detect vehicles on the roadway. For each vehicle, each sensor can generate sensor data and observational data from the generated sensor data. Each sensor can determine a likelihood that the detected vehicle will approach the at-grade crossing by comparing the likelihood to a threshold. In response, each sensor can transmit data to the gate system that causes the gate system to allow the autonomous vehicle access to the at-grade crossing prior to the autonomous vehicle reaching the gate system.

A crossing gate mechanism includes a brushless direct current (BLDC) motor with at least one sensing device, a crossing gate arm operated via the BLDC motor, a control unit configured to control the BLDC motor to raise or lower the crossing gate arm in response to a gate control signal, wherein the control unit comprises position and speed proportional-integral-derivative (PID) controllers configured to output a pulse width modulation (PWM) command to a commutator logic, wherein the PWM command is converted to a motor direction and PWM duty cycle, and wherein the PWM duty cycle is variable depending on a motor input voltage.

A crossing gate mechanism includes a brushless direct current (BLDC) motor with at least one sensing device, a crossing gate arm operated via the BLDC motor, a control unit configured to control the BLDC motor to raise or lower the crossing gate arm in response to a gate control signal, wherein the control unit comprises position and speed proportional-integral-derivative (PID) controllers configured to output a pulse width modulation (PWM) command to a commutator logic, wherein the PWM command is converted to a motor direction and PWM duty cycle, and wherein the PWM duty cycle is variable depending on a motor input voltage.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for allowing vehicles access or egress from a dedicated roadway. In some implementations, a system includes a server, an interface, and sensors. The interface receives data from a railroad system that manages a railroad running parallel to a first roadway. The sensors are positioned in a location relative to the first and second roadway. Each sensor can detect vehicles on the second roadway. For each detected vehicle, each sensor can generate first sensor data based on the detected vehicle and the data received at the interface. Second sensor data can be generated based on activities on the first roadway. Observational data can be generated based on the first and second sensor data. An instruction can be determined to allow the detected vehicle access to the first roadway. The instruction can be transmitted to the detected vehicle.