US20130194423A1

US20130194423A1 - Railroad Crossing Warning System

Info

Publication number: US20130194423A1
Application number: US13/582,500
Authority: US
Inventors: Stephen Baines; David McMah
Original assignee: QR Ltd
Current assignee: QR Ltd
Priority date: 2010-03-02
Filing date: 2011-03-02
Publication date: 2013-08-01
Also published as: WO2011106834A1; EP2542458A1; AU2011223496A1

Abstract

The present invention relates to a warning system for displaying a warning message to a vehicle approaching a railroad crossing. The railroad crossing includes a railroad along which a train can travel, and a road crossing the railroad and along which the vehicle can travel. The warning system includes an identification system for identifying at least one identity characteristic (e.g. number plate, vehicle type, etc.) relating to the vehicle. A train detection system detects at least one train characteristic (e.g. presence, position, speed) relating to the train approaching the railroad crossing along the railroad. A vehicle detection system detects at least one vehicle characteristic (e.g. presence, position, speed) relating to the vehicle approaching the railroad crossing along the road. The warning system further includes a display system for displaying the warning message to the vehicle responsive to detecting both the train and vehicle characteristics.

Description

TECHNICAL FIELD

The present invention generally relates to railroad crossing warning systems.

BACKGROUND

The reference to any prior art in this specification is not, and should not be taken as an acknowledgement or any form of suggestion that the prior art forms part of the common general knowledge.
A railroad crossing (also called a level crossing) is a crossing of a railroad by a road. Railroad crossings are often fitted with warning devices such as lights, bells and automatic boom gates to warn vehicles to give way to approaching trains.
In practice, many vehicles routinely travel along the same roads which conditions drivers to pay lesser attention to familiar surroundings including the warning devices. Some drivers notice the warning devices, although fail to properly obey them. In spite of the existence of these warning devices, accidents at railway crossings remain a serious concern with many accidents continuing to occur because of a failure to notice or obey the warning devices.

SUMMARY OF THE INVENTION

According to one aspect of the present invention, there is provided a method for displaying a warning message to a vehicle approaching a railroad crossing, the railroad crossing including a railroad along which a train can travel and a road crossing the railroad and along which the vehicle can travel, the method including the steps of:

- identifying at least one identity characteristic relating to the vehicle;
- detecting at least one train characteristic relating to the train approaching the railroad crossing along the railroad;
- detecting at least one vehicle characteristic relating to the vehicle approaching the railroad crossing along the road;
- displaying, on an electrical display, the warning message to the vehicle subsequent to detecting both the train and vehicle characteristics, the warning message relating to the identity characteristic of the vehicle.

The identity characteristic may relate to a number plate of the vehicle. Alternatively, the identity characteristic may relate to the color and/or type of vehicle (e.g. blue VW golf). The warning message may relate to the identity characteristic by being personalized to include the identity characteristic. In this manner, the vehicle driver is more inclined to notice and obey the personalised warning message.
The method may further include the step of determining a risk of a collision between the train and vehicle. The risk may be determined using the train characteristic and the vehicle characteristic. The risk may be determined using detected or forecasted environmental (e.g. weather) conditions. The displayed warning message may be selected from a number of possible warning messages, with the severity of the warning messages relating to the determined risk so that the vehicle driver is more inclined to notice and obey changeable warning messages. The method may further involve capturing and recording images of the railroad crossing in the event of a high risk of collision between the train and the vehicle 4 to record either a collision or a near miss.
The displayed warning message may relate to the identity characteristic by being determined in accordance with the determined risk, in turn, determined using the identity characteristic. The risk may be determined in accordance with a behavioral profile associated with the identity characteristic.
The method may include the step of storing a vehicle record in an enforcement database or sending an alarm responsive to a determined unacceptable vehicle behaviour, the vehicle record including the identified characteristic. The determined unacceptable behaviour may relate to the determined risk exceeding a predetermined risk threshold. Alternatively, the determined unacceptable behaviour may relate to the vehicle speed exceeding a speed limit. In this manner, the vehicle driver is more inclined to obey the warning message so that vehicle behaviour is determined to be acceptable, rather than incur a fine associated with the stored record.
The method may further include the step of sending an alarm to an emergency services facility or a railroad crossing monitoring facility responsive to determining that the vehicle and train have collided.
The method may further include the step of moving a vehicle impact barrier to impede the vehicle from crossing the railroad. The method may further include the step of actuating boom gates, flashing lights and bells.
The at least one train characteristic may include the presence, position or speed of the train. The at least one vehicle characteristic may include the presence, position or speed of the vehicle.
The method may further involve the step of displaying another warning message to the train.
The method may further include the step of transmitting the warning message in audio format to a radio of the vehicle. The warning message may be transmitted when the train is within a predetermined distance of the railroad crossing.
The method may further include the step of the train receiving a video stream of the railroad crossing. The video stream may be activated responsive to determining that the train is within a predetermined distance of the railroad crossing.
In one embodiment, the method further involves the train capturing and recording images of the railroad crossing responsive to detection of an obstacle by the train. The method may further involve the train deploying one or more airbags responsive to detecting train impact with the obstacle.
According to another aspect of the present invention, there is provided a warning method for displaying a warning message to a vehicle approaching a railroad crossing, the method including the steps of:

- identifying at least one identity characteristic relating to the vehicle; and
- displaying the warning message to the vehicle, the warning message relating to the identity characteristic of the vehicle.

According to another aspect of the present invention, there is provided a warning system for displaying a warning message to a vehicle approaching a railroad crossing, the railroad crossing including a railroad along which a train can travel and a road crossing the railroad and along which the vehicle can travel, the system including:

- identification means for identifying at least one identity characteristic relating to the vehicle;
- train detection means for detecting at least one train characteristic relating to the train approaching the railroad crossing along the railroad;
- vehicle detection means for detecting at least one vehicle characteristic relating to the vehicle approaching the railroad crossing along the road;
- display means for displaying the warning message to the vehicle responsive to detecting both the train and vehicle characteristics, the warning message relating to the identity characteristic of the vehicle.

The system may further include a central controller in wired or wireless communication with the identification means, the train detection means, the vehicle detection means, the display means, environmental detection means, and crossing status means.
The train detection means may electrically detect the presence, position or speed of the train. The train detection means may include track circuits, axle counters, or train mounted sensors. The train detection means may be configured to continually transmit the position and speed of the train to the controller when the train is within a predetermined distance of the crossing, thereby enabling the controller to dynamically estimate the train arrival time at the crossing.
The railroad may include multiple lines along which respective trains can travel and the warning system may include respective train detection means. Each train detection means may be able to detect the train coming from either direction.
The vehicle detection means may electrically detect the presence, position or speed of the vehicle. The vehicle detection means may include magnetic, radar, infrared or video proximity sensing devices. The vehicle detection means may be configured to continually transmit the position and speed of the vehicle to the controller when the vehicle is within a predetermined distance of the crossing, thereby enabling the controller to dynamically estimate the vehicle arrival time at the crossing.
The road may include multiple lanes in which respective vehicles can travel and the warning system may include respective vehicle detection means. Each vehicle detection means may be able to detect the vehicle coming from either direction.
The identification means may be configured to identify the number plate of the vehicle. The identification means may include a camera for capturing an image of the vehicle.
The system may further include environmental detection means for detecting environmental (e.g. weather) conditions proximal to the crossing. The environmental detection means may detect precipitation, visibility, wind speed or road surface conditions.
The system may further include crossing status means for monitoring the status of the railroad crossing. The crossing status means may monitor the status of boom gates, lights, and bells of the crossing. The crossing status means may further monitor the status of a moveable vehicle impact barrier which can impede the vehicle from crossing the railroad. The crossing status means may be configured to send a crossing status message to the controller.
The controller may include a transceiver in wired or wireless communication with a license database, a vehicle registration database, an enforcement database, an emergency services facility and a railroad crossing monitoring facility. The controller may include an internal database for storing behavioral profiles associated with respective vehicles or possible warning messages to be displayed. The controller may be configured to send the crossing status message to the emergency services facility or railroad crossing monitoring facility. The controller may be configured to send an alarm to the emergency services facility or railroad crossing monitoring facility, responsive to a determined unacceptable vehicle behaviour. The controller may be configured to determine a risk of collision between the train and vehicle, and send the risk or an alarm to the train.
The display means may include at least one electrical display for displaying the warning message. The controller may be configured to display something other than the warning message (e.g. advertisement) responsive to the train detection means detecting the absence of the train.
According to another aspect of the present invention, there is provided a warning system for displaying a warning message to a vehicle approaching a railroad crossing, the system including:

- identification means for identifying at least one identity characteristic relating to the vehicle; and
- display means for displaying the warning message to the vehicle, the warning message relating to the identity characteristic of the vehicle.

According to another aspect of the present invention, there is provided a method for displaying a warning message to at least one moving object, the method including the steps of:

- detecting at least one first moving object characteristic relating to a first moving object;
- detecting at least one second moving object characteristic relating to a second moving object;
- determining a risk of a collision between the first and second moving objects; and
- displaying, on an electrical display, the warning message to at least one of the moving objects, the warning message relating to the determined risk of a collision and being one of a number of possible warning messages.

- determining a risk of a collision between first and second moving objects; and
- displaying, on an electrical display, the warning message to at least one of the moving objects, the warning message relating to the determined risk of a collision and being one of a number of possible warning messages.

According to another aspect of the present invention, there is provided a warning system for displaying a warning message to at least one moving object, the system including:

- first moving object detection means for detecting at least one first moving object characteristic relating to a first moving object;
- second moving object detection means for detecting at least one second moving object characteristic relating to a second moving object;
- risk determination means for determining a risk of a collision between the first and second moving objects; and
- display means for displaying the warning message to at least one of the moving objects, the warning message relating to the determined risk of a collision.

- risk determination means for determining a risk of a collision between first and second moving objects; and
- display means for displaying the warning message to at least one of the moving objects, the warning message relating to the determined risk of a collision and being one of a number of possible warning messages.

BRIEF DESCRIPTION OF THE DRAWINGS

Preferred features, embodiments and variations of the invention may be discerned from the following Detailed Description which provides sufficient characteristic for those skilled in the art to perform the invention. The Detailed Description is not to be regarded as limiting the scope of the preceding Summary of the Invention in any way. The Detailed Description will make reference to a number of drawings as follows:

FIG. 1 is a schematic drawing of a warning system for displaying a warning message to a vehicle approaching a railroad crossing in accordance with an embodiment of the present invention; and

FIG. 2 is a flowchart for a method of displaying a warning message to a vehicle approaching the railroad crossing of FIG. 1.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

According to an embodiment of the present invention, there is provided a warning system 2 shown in FIG. 1 for displaying a warning message to a vehicle 4 approaching a railroad crossing 6. The railroad crossing 6 includes a railroad 8 along which a train 10 can travel, and a road 12 crossing the railroad 8 and along which the vehicle 4 can travel.
The warning system 2 includes an identification system 14 for identifying at least one identity characteristic (e.g. number plate, vehicle type, etc.) relating to the vehicle 4. A train detection system 16 detects at least one train characteristic (e.g. presence, position, speed) relating to the train 10 approaching the railroad crossing 6 along the railroad 8. A vehicle detection system 18 detects at least one vehicle characteristic (e.g. presence, position, speed) relating to the vehicle 4 approaching the railroad crossing 6 along the road 12. The warning system 2 further includes a display system 20 for displaying the warning message to the vehicle 4 responsive to detecting both the train and vehicle characteristics. The warning message relates to the identity characteristic of the vehicle. A detailed description of the warning system 2 and an associated warning method are provided below.
The warning system 2 further includes a central controller 22 in either wired or wireless communication with the identification system 14, the train detection system 16, the vehicle detection system 18, the display system 20, an environmental detection system 24, and a crossing status system 26. The central controller 22 is also in either wired or wireless communication with remote databases and facilities 28 including a license database, a vehicle registration database, an enforcement database, an emergency services facility and a railroad crossing monitoring facility (including associated computer systems).
The train detection system 16 electrically detects the presence, position and speed of the train 10. The train detection system 16 includes either track circuits, axle counters, or train mounted sensors. In use, the train detection system 16 is configured to continually transmit the position and speed of the train 10 to the controller 22 when the train 10 is present within a predetermined distance of the crossing 6, thereby enabling the controller 22 to dynamically estimate the train arrival time at the crossing 6.
The vehicle detection system 18 electrically detects the presence, position and speed of the vehicle 4. The vehicle detection system 18 includes either magnetic, radar, infrared or video proximity sensing devices. In use, the vehicle detection system 18 is configured to continually transmit the position and speed of the vehicle 4 to the controller 22 when the vehicle 4 is present within a predetermined distance of the crossing 6, thereby enabling the controller 22 to dynamically estimate the vehicle arrival time at the crossing 6.
The road 12 includes multiple lanes 30 a, 30 b in which respective vehicles 4 a, 4 b can travel and the warning system 2 includes respective identification systems 14 a, 14 b and vehicle detection systems 18 a, 18 b. Each vehicle detection system 18 is able to detect a vehicle 4 coming from either direction.
Each identification system 14 is configured to identify the number plate of the vehicle 4. Each identification system 14 includes a camera for capturing at least one image of the vehicle 4 which can be processed to identify the number plate.
The environmental detection system 24 detects environmental (e.g. weather) conditions proximal to the crossing 6. In particular, the environmental detection system detects precipitation, visibility, wind speed and road surface conditions.
The crossing status system 26 monitors the status of the railroad crossing 2. In particular, the crossing status system 26 monitors the status of boom gates, lights, and bells 32 of the crossing 6. The crossing status system 26 can further monitor the status of a moveable vehicle impact barrier (not shown) which can extend across the road 12 upon actuation of the boom gates, lights, and bells 32 to impede the vehicle 4 from crossing the railroad 8. The crossing status system 26 can send a crossing status message to the controller 22.
The controller 22 includes a transceiver in wired or wireless communication with the remote databases and facilities 28. In addition, the controller 22 includes an internal database for storing behavioral profiles associated with respective vehicles 4 and possible warning messages to be displayed on display system 20. The controller 22 is configured to send the crossing status message to the emergency services facility or railroad crossing monitoring facility. Furthermore, the controller 22 is configured to send an alarm to the emergency services facility or railroad crossing monitoring facility, responsive to a determined unacceptable vehicle behaviour. The controller is also configured to determine a risk of collision between the train 10 and vehicle 4, and send the risk or an alarm to the train 10.
The display system 20 includes at least one electrical display for displaying the warning message. The display system 20 is configured to display an advertisement responsive to the train detection system 16 detecting the absence of the train 10.
FIG. 2 shows a warning method 50 for displaying a warning message to the vehicle 4 approaching the railroad crossing 6.
At step 52, the warning method 50 is initiated responsive to the train detection system 16 detecting the presence of the train 10 and the vehicle detection system 18 detecting the presence of the vehicle 4. The method 50 terminates responsive to detecting the absence of either the train 10 or vehicle 4, in which case the display system 20 displays advertising.
The central controller 22 or another pre-existing crossing controller actuates the boom gates, flashing lights and bell, and actuates the vehicle impact barrier to impede the vehicle 4 from crossing the railroad 8.
At step 54, the identification system 14 captures an image of the vehicle 4 and processes the captured image to identify the number plate and vehicle type (e.g. blue VW golf) of the vehicle 4 using information from the license database and vehicle registration database. This information is transmitted to the controller 22.
At step 56, the train detection system 16 detects the position and speed of the train 10 approaching the railroad crossing 6 along the railroad 8. The detected position and speed of the train 10 are transmitted to the controller 22.
At step 58, the vehicle detection system 18 detects the position and speed of the vehicle 4 approaching the railroad crossing 6 along the road 12. The detected position and speed of the vehicle 4 are transmitted to the controller 22.
At step 60, the controller 22 determines a risk of a collision between the train 10 and vehicle 4. The risk is determined using the positions and speeds of the vehicle 4 and train 10 which, in turn, are used to dynamically estimate the vehicle and train arrival times at the crossing 6. The risk can be determined in accordance with the difference between the estimated vehicle and train arrival times as indicated in the table below.


	\|vehicle arrival time −
risk	train arrival time\|	warning message

Low	>30 seconds	CROSSING AHEAD
Medium	15 to 30 seconds	DANGER -
		SLOW DOWN
High	<15 seconds	COLLISION IMMINENT

The controller 22 also selects a warning message to display based upon the determined risk from the possible warning messages included in the internal database as indicated in the table above. The severity of the warning messages relate to the determined risk of collision, and the vehicle driver is more inclined to notice and obey changeable warning messages. For example, a low risk may be associated with a warning, message “CROSSING AHEAD” whereas a medium risk may be associated with a more severe warning message “DANGER—SLOW DOWN”. The controller 22 also sends the determined risk and another warning message to the train 10.
The controller also includes an indication of the number plate or vehicle type determined at step 54 within the warning message so that the vehicle driver is more inclined to notice and obey the personalised warning message (e.g. “DANGER—SLOW DOWN <insert number plate>”). The controller 22 transmits the personalised warning message to be displayed to the display system 20.
At step 62, the display system 20 displays the warning message to the vehicle which was determined in accordance with the risk. The controller 22 also receives the crossing status message and, in turn, can forward it to the railroad crossing monitoring facility for display to a person monitoring the statuses of railroad crossings of the railroad in the event of a fault status (e.g. subsequent to a collision).
At query step 64, the controller 22 determines whether the vehicle 4 is engaging in unacceptable behaviour. A determined unacceptable behaviour can involve determining that the risk exceeds a predetermined safe risk threshold or that the vehicle speed exceeds a speed limit. If the vehicle 4 is not engaging in unacceptable behaviour, the method 50 proceeds to step 68. If the vehicle 4 is engaging in unacceptable behaviour, the method 50 proceeds to step 66.
At step 66, the controller 22 sends a vehicle record for storage in the remote law enforcement database and sends an alarm to the railroad crossing monitoring facility in response to the determined unacceptable vehicle behaviour. The vehicle record includes the identified characteristics of the number plate, vehicle type and captured image referred to above at step 54. In this manner, the vehicle driver is more inclined to obey the warning message so that vehicle behaviour is determined to be acceptable, rather than incur a fine associated with the stored record. The method 50 then proceeds to step 68.
At query step 68, the controller 22 determines whether there has been a collision between the vehicle 4 and train 10. A collision can be determined if the detected vehicle position and train position are concurrently coincident with the railroad crossing 6 and can be confirmed using the captured image. If there has been no collision, the method 50 returns to step 56. If there has been a collision, the method 50 proceeds to step 70.
At step 70, the controller 22 sends an alarm to the emergency services facility and the railroad crossing monitoring facility responsive to determining that the vehicle 4 and train 10 have collided.
At step 72, the method 50 ends responsive to the detected collision.
A person skilled in the art will appreciate that many embodiments and variations can be made without departing from the ambit of the present invention.
For example, in another embodiment the risk is determined at step 60 using the identity characteristic (e.g. number plate, vehicle type, etc.) determined at step 54. In this manner, the controller 22 corresponds the identity characteristic with an associated behavioral profile stored in the controller's internal database, and uses the behavioral profile to assess the risk. In yet another embodiment, the risk is determined at step 60 using environmental (e.g. weather) conditions either detected by the environmental detection system 24 or forecasted by a weather bureau and provided via the Internet. In this manner, the risk would increase in inclement weather conditions. The risk can be determined using fuzzy logic, expert systems or other like machine learning techniques.
In one embodiment, the railroad 8 includes multiple lines along which respective trains 10 can travel, and the warning system 2 includes respective train detection systems 16. Each train detection system 16 is able to detect the train 10 coming from either direction.
In another embodiment, the controller 22 can send information to live traffic update systems for use with road vehicle GPS-based navigation systems. Further, the controller 22 can send information to a national heavy vehicle access monitoring facility which, in turn, relays alerts to trucks traveling near the railroad crossing 6.
In yet another embodiment, the controller 22 can activate radio break-in messaging to radios of vehicles 4.
In yet another embodiment, the controller 22 can activate advance road warning systems such as active rumble strips, illuminated signs or in-road lights that are mounted about the road 12 at a location well before the crossing 6.
In one embodiment, the train detection system 16 can detect the position of the train 10 approaching the railroad crossing 6 and then estimate the train speed over time using a change in the detected position. Similarly, the vehicle detection system 18 can detect the position of the vehicle 4 approaching the railroad crossing 6 and then estimate the vehicle speed over time using a change in the detected position.
In one embodiment, the train detection system 16 and controller 22 can be combined and carried onboard the train 10. The onboard controller 22 can be configured to transmit the warning message in audio format to a radio of the vehicle 4 using short range radio frequency (RF) communications. In one embodiment, the controller 22 includes a global positioning system (GPS) unit and is configured to transmit the warning message when within a predetermined distance from the railroad crossing 6.
The train 10 can also be fitted with a recording system including a camera arrangement for capturing and recording images of the railroad crossing 6. At step 60 in the event of the detection of a high risk of collision between the train 10 and vehicle 4, the controller 22 is configured to record images of the railroad crossing 6 to record either a collision or a near miss. In one embodiment, the controller 22 includes a radar obstacle detector for detecting an obstacle, and is configured to capture and record images of the railroad crossing 6 responsive to detection of the obstacle.
The onboard controller 22 is also configured to receive a video stream of the railroad crossing 6 from a camera located proximal the crossing 6. The train driver can view this video stream on a display of the onboard controller 22. The video stream can be activated responsive to determining that the GPS unit of the controller 22 is within a predetermined distance from the railroad crossing 6.
The train 10 can also be fitted with a tactile collision detector for detecting train impact with a vehicle or other object. In one embodiment, the controller 22 is configured to deploy one or more airbags responsive to detecting train impact.
In compliance with the statute, the invention has been described in language more or less specific to structural or methodical features. It is to be understood that the invention is not limited to specific features shown or described since the means herein described comprises preferred forms of putting the invention into effect. The invention is, therefore, claimed in any of its forms or modifications within the proper scope of the appended claims appropriately interpreted by those skilled in the art.

Claims

1. A method for displaying a warning message to a vehicle approaching a railroad crossing, the railroad crossing including a railroad along which a train can travel and a road crossing the railroad and along which the vehicle can travel, the method including the steps of:

identifying at least one identity characteristic relating to the vehicle;

detecting at least one train characteristic relating to the train approaching the railroad crossing along the railroad;

detecting at least one vehicle characteristic relating to the vehicle approaching the railroad crossing along the road;

displaying, on an electrical display, the warning message to the vehicle subsequent to detecting both the train and vehicle characteristics, the warning message relating to the identity characteristic of the vehicle.

2. A method as claimed in claim 1, wherein the identity characteristic relates to a number plate of the vehicle.

3. A method as claimed in claim 1, wherein the identity characteristic relates to the color and/or type of vehicle.

4. A method as claimed in claim 1, wherein the warning message relates to the identity characteristic by being personalized to include the identity characteristic.

5. A method as claimed in claim 1, further including the step of determining a risk of a collision between the train and vehicle.

6. A method as claimed in claim 5, wherein the risk is determined using any one or more of: the train characteristic, the vehicle characteristic and environmental conditions.

7. A method as claimed in claim 5, wherein the displayed warning message is selected from a number of possible warning messages, with the severity of the warning messages relating to the determined risk.

8. A method as claimed in claim 5, further involving capturing and recording images of the railroad crossing in the event of a high risk of collision between the train and the vehicle to record either a collision or a near miss.

9. A method as claimed in claim 1, wherein the displayed warning message relates to the identity characteristic by being determined in accordance with a determined risk, in turn, determined using the identity characteristic.

10. A method as claimed in claim 9, wherein the risk is determined in accordance with a behavioral profile associated with the identity characteristic.

11. A method as claimed in claim 9, further including the step of storing a vehicle record in an enforcement database or sending an alarm responsive to a determined unacceptable vehicle behaviour, the vehicle record including the identified characteristic.

12. A method as claimed in claim 11, wherein the determined unacceptable behaviour relates to either the determined risk exceeding a predetermined risk threshold or the determined unacceptable behaviour relates to the vehicle speed exceeding a speed limit.

13. A method as claimed in claim 1, further including the step of sending an alarm to an emergency services facility or a railroad crossing monitoring facility responsive to determining that the vehicle and train have collided.

14. A method as claimed in claim 1, further including the steps of:

moving a vehicle impact barrier to impede the vehicle from crossing the railroad; and

transmitting the warning message in audio format to a radio of the vehicle.

15. A method as claimed in claim 1, wherein the at least one train characteristic includes the presence, position or speed of the train; and the at least one vehicle characteristic includes the presence, position or speed of the vehicle.

16. A warning method for displaying a warning message to a vehicle approaching a railroad crossing, the method including the steps of:

identifying at least one identity characteristic relating to the vehicle; and

displaying the warning message to the vehicle, the warning message relating to the identity characteristic of the vehicle.

17. A method as claimed in claim 16, wherein the warning message relates to the identity characteristic by being personalized to include the identity characteristic.

18. A method as claimed in claim 16, wherein the displayed warning message relates to the identity characteristic by being determined in accordance with a determined risk, in turn, determined using the identity characteristic.

19. A warning system for displaying a warning message to a vehicle approaching a railroad crossing, the railroad crossing including a railroad along which a train can travel and a road crossing the railroad and along which the vehicle can travel, the system including:

identification means for identifying at least one identity characteristic relating to the vehicle;

train detection means for detecting at least one train characteristic relating to the train approaching the railroad crossing along the railroad;

vehicle detection means for detecting at least one vehicle characteristic relating to the vehicle approaching the railroad crossing along the road;

display means for displaying the warning message to the vehicle responsive to detecting both the train and vehicle characteristics, the warning message relating to the identity characteristic of the vehicle.

20. A warning system for displaying a warning message to a vehicle approaching a railroad crossing, the system including:

identification means for identifying at least one identity characteristic relating to the vehicle; and

display means for displaying the warning message to the vehicle, the warning message relating to the identity characteristic of the vehicle.

21-32. (canceled)

33. A warning system for displaying a warning message to at least one moving object, the system including:

risk determination means for determining a risk of a collision between first and second moving objects; and

display means for displaying the warning message to at least one of the moving objects, the warning message relating to the determined risk of a collision and being one of a number of possible warning messages.