Connected vehicle traffic safety system and a method of predicting and avoiding crashes at railroad grade crossings

A connected vehicle train-vehicle collision detection system, comprising:

• a roadside unit (RSU) configured to be located at a railroad grade crossing near a roadway lane, wherein the roadside unit (RSU) is configured to calculate a first arrival time of a TRAIN at the railroad grade crossing based on a location data and a speed data of the TRAIN near the railroad grade crossing,
• wherein the roadside unit (RSU) is configured to transmit a first connected vehicle message to a first Onboard Unit (OBU)-equipped vehicle having an Onboard Unit (OBU) at the railroad grade crossing, the first connected vehicle message including the location data and the speed data of the TRAIN as it approaches the railroad grade crossing,
• wherein the Onboard Unit (OBU) of the first OBU-equipped vehicle is configured to calculate a train-vehicle crash indication based on the first arrival time of the TRAIN at the railroad grade crossing and a second arrival time of the first OBU-equipped vehicle at the railroad grade crossing, and
• wherein the Onboard Unit (OBU) of the first OBU-equipped vehicle is configured to generate a first warning for the train-vehicle crash indication if the first OBU-equipped vehicle is predicted to arrive at the same time as the TRAIN since the first arrival time of the TRAIN and the second arrival time of the first OBU-equipped vehicle are substantially same.