An embedded system for controlling movement for an autonomous or semi-autonomous motorized road vehicle and to a fixed piece of infrastructure located in a level-crossing zone crossing a road, the embedded system and infrastructure interacting by means of at least one message transmitted by the infrastructure via wireless communication and received by the embedded system. The at least one message contains one or more pieces of information relating to a signaling and/or protecting system installed in said level-crossing zone and/or relating to one or more structural components of said signaling and/or protecting system. The embedded system is configured to decide on how to handle the movement control of the vehicle based on said one or more pieces of information extracted from said at least one received message.

A device for detecting an approaching train at a roadway railway crossing and providing an intervention for avoiding a collision that avoids the need for crossing site approval, installations, etc. and associated hardware and installation costs. The device may be configured as a stand-alone device, as an accessory matable to a motor vehicle (e.g., via an OBD II port), or may be fully integrated into the motor vehicle. The device includes a microphone for receiving an ambient audio signal, and processes the audio signal to determine whether a train is present. If so, the device may provide an audible and/or visual warning signal to a vehicle driver, via the device itself or via components of the motor vehicle. In certain other embodiments, the device is configured to provide a control signal causing operation of braking, engine, steering or other vehicle systems to avoid a collision.