Volume 9, Issue 11, November – 2024 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165 https://doi.org/10.38124/ijisrt/IJISRT24NOV207

Railway Gate Automation System Using

Lidar Technology
Soham N. Kulkarni1; Vaishnavi A. Patange2; Bhavna R. Pawar 3
Professor3
1,2,3
Department of Electronics and Telecommunication Engg., R.M.D.S.S.O.E Pune, India

Abstract:- Railway gate management technology using manual intervention, minimizes human error, and
LiDAR (Light Detection and Ranging) offers several significantly improves the overall safety of the crossing. In
benefits for enhancing safety and efficiency at level addition to train detection, the system enhances efficiency by
crossings. LiDAR can accurately detect approaching dynamically adjusting the gate operation based on the train's
trains and vehicles, providing real-time data on their speed and distance. This reduces unnecessary road traffic
speed and distance. It can identify obstacles or individuals delays, as the gates are only closed when necessary. The use
near the tracks, reducing the risk of accidents. Traffic of LiDAR also offers a high level of reliability, as the
signals at railway gates can be adjusted dynamically technology works effectively in various weather conditions,
based on real-time data, minimizing delays for vehicles including rain, fog, and low light. Overall, this project aims
when no trains are approaching. LiDAR sensor emit laser to modernize railway crossings by providing a cost-effective,
pulses and measure the time it takes for the light to return automated solution that prioritizes safety and improves traffic
after reflecting off objects. They create precise 3D maps flow, using LiDAR’s advanced sensing capabilities for
of the surrounding area. A computer or server that precise and timely gate operation. LiDAR (Light Detection
processes the raw data collected by the LiDAR sensors. and Ranging) is a remote sensing technology that uses laser
This system integrates with the railway's existing light to measure distances and create detailed 3D maps of the
signalling and control infrastructure. Overall, the environment. The system works by emitting rapid pulses of
deployment of LiDAR technology in railway gate laser light that bounce off objects and return to the sensor. By
management can significantly enhance safety and measuring the time it takes for the laser pulses to travel to an
operational efficiency while providing valuable data for object and back, known as the "time of flight," LiDAR can
future improvements. calculate the precise distance to each object in the sensor's
range. This process happens at a very high rate, often sending
Keywords:- 3D Mapping, Detection and Rangging, Railway out millions of laser pulses per second, enabling it to build a
Signalling, Safety Enhancement, Operational Efficiency. highly accurate 3D representation of the surrounding area.

I. INTRODUCTION II. STATE OF THE ART

Railway crossings are key points of intersection  [1] 3D-LIDAR Based Object Detection and Tracking
between roads and rail tracks, where safety is paramount due on the Edge of IoT for Railway Level Crossing(2021)
to the potential risks posed by high-speed trains and the - Object detection is crucial for safety in areas like
movement of vehicles and pedestrians. Traditional railway railway level crossings, where accidents can happen. This
gate systems often depend on manual operation or basic work presents an edge IoT platform designed to quickly
sensors that trigger gate closures based on fixed timers or detect and track objects in thesecrossings. The system uses a
mechanical triggers. These systems are prone to several low-resolution 3D LIDAR sensor to create detailed area maps.
limitations, including delayed gate activation, false alarms, By processingdata on a compact, low-power device close to
and the inability to detect obstacles on the tracks. This can the sensor, the system reduces delays and avoids bandwidth
lead to severe accidents, including train collisions with issues that can occur with cloud processing. A lightweight
vehicles or pedestrians trapped at the crossing. This project algorithm is implemented to handle the largeamounts of data
proposes an automated railway gate system using LiDAR from the LIDAR while ensuring real-time performance. The
(Light Detection and Ranging) technology to address these method has been tested ona simulated railway crossing on a
safety concerns and improve efficiency. LiDAR is a highly car road, proving its effectiveness for safety applications.
precise sensing technology that uses laser pulses to measure [2]Monitoring Deformation along Railway Systems
the distance and speed of objects by creating a real-time 3D Combining Multi-Temporal InSAR and LiDARData(2019)
map of the environment. By integrating LiDAR sensors at
railway crossings, the system can accurately detect an -Multi-temporal interferometric synthetic aperture radar
approaching train from several kilometers away and calculate (MT-InSAR) is a useful tool for monitoring the health of
its speed and time of arrival. The system also scans for structures like railways and bridges. However, accurately
obstacles, such as vehicles or pedestrians, near the tracks and linking radar data to physical objects can be tricky due to the
in the gate area, ensuring that the gates only close when the limited precision of radar scatterers. This study presents a
path is clear. This real-time detection eliminates the need for new method that combines MT-InSAR with LiDAR (laser

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Volume 9, Issue 11, November – 2024 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165 https://doi.org/10.38124/ijisrt/IJISRT24NOV207

scanning) data to improve monitoring. By using advanced  Quantifying the Influence of Rain in LiDAR
processing techniques, the researchers can connect radar Performance(2017)
scatterers to specific points in the LiDAR data and correct LiDAR systems are crucial for self-driving cars, and this
their positions. They also introduced quality metrics to assess study looks at how rain affects theirperformance. We tested
the results. The experiments showed that the radar data six different surfaces to see how rain impacts three key factors:
matched well with the LiDAR points, demonstrating the range, intensity,and the number of points detected. The range
value of LiDAR for classifying radar scatterers effectively. measurements remained stable, with changes of less than20
cm, mainly due to how we averaged the data. However, as rain
 An Enhanced Algorithm for Concurrent Recognition of intensity increased, both the intensityof the LiDAR signal and
Rail Tracks and Power Cables from Terrestrial and the number of points detected decreased. The biggest drop in
Airborne LiDAR Point Clouds(2017) detected pointswas on pavement, but the intensity there wasn't
-This study presents an improved algorithm for greatly affected by rain. Other materials showed similar
identifying railroad assets from LiDAR point clouds. It works patterns in intensity and point detection.
on any slope, uses Eigendecomposition for selecting rail
points, and efficiently processescomplex datasets. Tested on  Instant Object Detection in Lidar Point Clouds(2017)
two datasets—one from a terrestrial scanner and another from In this study, we introduce a new method for classifying
an airborne platform—the algorithm identified all objects objects in Lidar point clouds collectedfrom urban areas. Using
with over 95% accuracy and precision, demonstrating its data from a Velodyne HDL-64 Lidar, we focus on identifying
effectiveness in simple and complex environments. vehicles and pedestrians around the moving sensor. Our
approach includes several steps: first, we divide the point
 Review of Laser Scanning Technologies and Their cloud into areas representing the ground, short objects, and
Applications for Road and Railway Infrastructure tall objects. Next, we use a unique two- layer grid to analyze
Monitoring (2019) these areas and group points that correspond to different
-Improving infrastructure resilience is crucial for urban objects. Then, we create depth images of these objects
reducing vulnerability to hazards like extreme weather and and use a convolutional neural network for initial
human-made events. A key part of resilience is preparation, classification. Finally, we refine this classification by
which involves predicting risks, monitoring infrastructure, considering the layout of the scene. We tested our method on
and using systems to anticipate and prevent damage. This real Lidar data, successfully identifying 1,485 objects from
work reviews currentmethods and technologies for efficient, various urban settings.
automated infrastructure monitoring, focusing on LiDAR
(Light Detection and Ranging) data processing, especially for  A Review of LiDAR sensor Technologies for Perception in
roads and railways. It discusses important applications for Automated Driving
monitoring transport infrastructure and compares various After over 20 years of research, Advanced Driver
commercial terrestrial LiDAR systems to highlight available Assistance Systems (ADAS) are now common in modern
sensors and tools for remote monitoring. vehicles, and automated driving systems are moving from
testing to real-world use. These systems rely on sensors to
 Automated Inspection of Railway Tunnels’ Power Line gather information about the vehicle, its surroundings, and
Using LiDAR Point Clouds(2019) other road users. Choosing the right sensors and their
-Transport networks need regular inspections for safety, placement is crucial for effective design. This paper reviews
and LiDAR technology has become akey tool for this. This current and emerging sensor technologies, focusing on
paper presents a LYNX Mobile Mapper System method to LiDAR. We analyze how LiDAR works, its prosand cons, and
automatically inspect overhead contact lines in railway common types. We also suggest ways to improve LiDAR's
tunnels. The process involves creating a 3D point cloud and recognition accuracy in various weather conditions. Finally,
classifyingit into contact wires and other points. The method we introduce new LiDAR sensors being researched and
was validated in three tunnels, producing accurate resultsthat propose an innovative multi-sensor fusion approach to
meet Spanish standards. enhance system performance, discussing its feasibility.

 [6]A Benchmark for Lidar Sensors in Fog: Is Detection  Lidar Technology and its Applications(2018)
Breaking Down?(2018) Collecting geo-data has traditionally been a difficult and
- Level five autonomous driving means cars can drive costly process, but recent advances in remote sensing have
themselves in all conditions, not just sunny weather. Fog, made it much easier. In the last decade, new techniques for
rain, and snow make it hard for these cars to see their automatically gathering 3D geo-data, especially Digital
surroundings. In this study, they tested four advanced lidar Elevation Models, have gained popularity. LiDAR
sensors in a fog chamber to see how they perform in bad technology, which uses various laser sources and improved
weather. Andfound common issues and disturbance patterns detectors, has become a reliable tool for atmospheric
with these sensors and explored how adjusting their settings research. This paper reviews several LiDAR systems, like
can enhance their performance. This is crucial because many Differential Absorption LiDAR and Airborne LiDAR,
detection systems rely on clear lidar data and may struggle in detailing their specifications and uses. It also discusses the
challenging conditions. successful applications of LiDAR in Environmental
Engineering, highlighting its potential, particularly in India.
Case studies include air quality research in Pune, monitoring

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Volume 9, Issue 11, November – 2024 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165 https://doi.org/10.38124/ijisrt/IJISRT24NOV207

atmospheric components in New Delhi, and studying ozone achieve high-resolution distance measurements, which are
levels in Gujarat, showing how LiDAR can provide valuable crucial for Advanced Driver Assistance Systems (ADAS) and
environmental insights. self-driving cars. Since there are no strict standards yet,
companies are experimenting with different methods to see
 The evolution of LiDAR and its Application in High- which one works best, leadingto a diverse range of competing
Precision Measurement (2020) products.
LiDAR is a key technology in remote sensing that
collects detailed and accurate data about theEarth's shape and  Research, Application, and Innovation of LiDAR
surface features. This paper discusses the evolution of Technology in Spatial Archeology
LiDAR technology, highlighting major companies and their Environmental changes and human activities threaten
products. It also reviews current research focuses and archaeological sites, especially in remoteareas. Our research
application cases to showcase LiDAR's characteristics and in Guatemala shows that LiDAR can help us create new
functions. Looking ahead, the future of LiDAR will focus on models to understand these landscapes. However, detecting
new radiation sources, integrating multiple sensors, and features can be challenging, leading to false positives or
exploring new mechanisms. Additionally, the paper offers negatives, so skilled modeling is essential. While LiDAR is
suggestions for advancing high-precision LiDAR systems often used rigidly in science, in Spatial Archaeology, we
domestically. highlight the need to blend scientific analysis with creativity
to fully explore archaeological contexts. LiDAR effectively
 LIDAR TECHNOLOGY (2022) combines objective data with artistic insights from the
LiDAR (Light Detection and Ranging) technology has humanities.
been around since the 1960s and has become a widely used
sensor as technology has improved. It is utilized in various  A Survey of LIDAR Technology and its Use in Spacecraft
fields, including automation, agriculture, archaeology, IT, Relative Navigation
and atmospheric studies. This paper discusses how LiDAR This paper reviews modern LIDAR sensors and their
works, its different types, history, and applications. LiDAR potential use for spacecraft navigation. It covers both current
can measure distances between objects andcreate 3D digital LIDAR technologies used in space, like scanning and flash
models of areas. It's especially known for producing accurate LIDAR, as well as emerging technologies from other fields.
georeferenced spatial data about the Earth's shape and surface The paper explains how each type of LIDAR works, along
features. Recent advancements in LiDAR mapping systems with their advantages and disadvantages. Overall, it offers a
have allowed researchers and mapping professionals to thorough overview of how LIDAR can enhance navigation
explore both natural and built environments with for spacecraft.
unprecedented accuracy and cost-effectiveness, enhancing
our understanding of human civilization. III. CONTRIBUTION OF THIS WORK

 RESEARCH AND APPLICATION OF LiDAR In this paper, the theoretical concepts of LiDAR
TECHNOLOGY IN CADASTRAL SURVEYING AND technology and the existing systems related to railway safety
MAPPING(2020) mechanism and existing systems for railway gate
The government places great importance on the rights to management has shown. The comparative study of various
use rural land, and China is currentlyworking on a large-scale distance sensors with TF-LC02 LiDAR sensor is explained.
project to map and confirm rural house sites. Traditionally, The ranging and other parameters of the distance sensor has
this has been done using total stations or manual RTK compared with TF-LC02 LiDAR Sensor.
measurements, which are labor-intensive and complex. Given
that China has hundreds of thousands of villages, adopting IV. MATERIAL AND METHODOLOGY
new technologies for rural land surveys is essential for
improving efficiency and quality. LiDAR scanning  Material Used:
technology offers benefits like high efficiency, flexibility,
reliability, and accuracy, making it a better choice than  TF-LC02 LiDAR Sensor
traditional methods. Thispaper focuses on the AS-300H multi-  IR Sensor
platform LiDAR system from Huace Navigation, which  HC-SR04 Ultrasonic Sensor
combinesUAV and vehicle LiDAR for cadastral surveying. It  ESP-32 Module
demonstrates that using LiDAR for mapping rural land  DC Motors
reduces labor intensity while increasing efficiency and  L298N Motor Driver
accuracy. The paper also discusses the pros and cons of
LiDAR technology, providing valuable insights for those  System Design:
involved in rural housing and land mapping.
 Sensing Mechanism
 Automotive LIDAR Technology(2019)
There are many different LIDAR designs because
 Lidar Placement: Mount the TFLC02 sensor at a strategic
various companies are trying to meet the specific needs of the
location where it can detect oncoming trains at a safe
automotive industry, such as performance, cost, and size.
distance.
Each design uses different technologies and approaches to

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Volume 9, Issue 11, November – 2024 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165 https://doi.org/10.38124/ijisrt/IJISRT24NOV207

 Detection Range: Determine the effective range and angle  Safety Features:
for accurate detection.
 Redundant Sensors:
 Control Logic Use of additional sensors to verify the presence of the
object train.
 Threshold Configuration: Set a distance threshold (e.g.,
100 meters) for the train's approach.  Timer Functionality:
 Control States: Ensuring that the gates remain closed for the specific
duration after passing the train.
 Idle: Gate is open, and no trains are detected.
 Closing: Gate is closing when a train is detected within  Alarm System:
the threshold. Integrate the alarm to alert pedestrians when the gate is
 Closed: Gate is fully closed while the train passes. closing.
 Opening: Gate opens after the train has cleared the
crossing. User Interface

 Local Monitoring: Simple LED indicators or a small

display to show the status of the gate.
 Remote Monitoring: Mobile app or web interface for
real-time status updates.

 Block Diagram

Fig 1: Block Diagram

This block diagram illustrates a system that employs a purposes. Real-Time Analysis and Decision Making: At this
LiDAR sensor for the purpose of obstacle detection, stage, the system conducts a real-time analysis of the
processes the gathered data to facilitate real-time decision- processed data and makes decisions based on established
making, controls a gate mechanism, and issues notifications. rules or algorithms. For instance, if an obstacle is detected
Below is a detailed explanation of each component: LiDAR within a specified range, the system may opt to activate the
Sensor (Obstacle Detection): The system initiates with a gate control. Control System (Gate Control Mechanism):
LiDAR sensor, which plays a crucial role in identifying This component receives directives from the decision-making
obstacles within the environment. LiDAR, or Light Detection module and manages a physical gate control mechanism. It
and Ranging, utilizes laser light to ascertain the distance and may open, close, or halt the gate in response to obstacle
dimensions of objects. Data Acquisition System: The detection. Notification System (Alert and Monitor): The
information gathered by the LiDAR sensor is relayed to the concluding component of the system is the notification
Data Acquisition System. This system is responsible for system, which provides alerts and monitors the operational
capturing and formatting the data for subsequent processing. status. This allows operators or users to stay informed about
Data Processing Unit: Following data acquisition, the actions taken, such as gate operations or real-time obstacle
information is directed to a processing unit that filters, detection.
interprets, and prepares the data for decision-making

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Volume 9, Issue 11, November – 2024 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165 https://doi.org/10.38124/ijisrt/IJISRT24NOV207

V. RESULTS AND CONCLUSION

The comparison between various sensors using different parameters is shown in TABLE 1.

Table 1: Performance Comparison of Various Distance Sensors

The table provides a comprehensive comparison of The resolution of these sensors also varies significantly,
three types of sensors commonly used for distance with LiDAR creating highly detailed maps thanksto its high
measurement: LiDAR, Infrared (IR) Sensors, and Ultrasonic resolution, IR sensors providing low resolution, and
Sensors. Each sensor operates on a differentprinciple, with ultrasonic sensors offering moderate resolution that depends
LiDAR using laser light, IR sensors relying on infrared light, on the frequency of the sound waves used. Environmental
and ultrasonic sensors usingsound waves. sensitivity is another important consideration, with LiDAR
being affected by conditions such as rain, fog, and dust, IR
In terms of range, LiDAR sensors excel with long-range sensorsbeing susceptible to interference from ambient light
capabilities, often reaching several kilometers, while IR and reflections, and ultrasonic sensors being less sensitive to
sensors are limited to short to medium distances of a few light but impacted by temperature and humidity.
meters, and ultrasonic sensors provide a medium range,
typically effective up to 4–5 meters. LiDAR offers very high Finally, the cost and power consumption of these sensors
accuracy, often to sub- centimeter levels, making it suitable vary, with LiDAR being the most expensive andconsuming
for applications requiring precise measurements. IR and more power due to its advanced technology and precision,
ultrasonic sensors provide moderate accuracy, with IR sensors while both IR and ultrasonic sensors are generally low-cost
being affected by ambient light and ultrasonic sensors and have low power requirements, making them suitable for
typically achieving about ±1 cm accuracy. applications where cost and energy efficiency are priorities.
This comparison highlights the specific advantages and
limitations of each sensor type, allowing for informed choices
based on the requirements of a given application.

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Volume 9, Issue 11, November – 2024 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165 https://doi.org/10.38124/ijisrt/IJISRT24NOV207

Fig 2: Comparison of Sensors in Term of Range

The bar chart effectively illustrates the maximum range [4]. Soilán, Sánchez-Rodríguez, Pablo del Río-Barral,
capabilities of three different types of sensors: LiDAR, Carlos Perez-Collazo, Pedro Arias and Belén Riveiro,
Ultrasonic, and Infrared (IR) sensors. The vertical axis Department of Materials Engineering, Applied
represents the range in millimeters, whilethe horizontal axis Mechanics and Construction, School of Industrial
lists the three sensor types. Engineering, University of Vigo(2019), “Review of
Laser Scanning Technologies and Their Applications
The LiDAR sensor, depicted in blue, has a significantly for Road and Railway Infrastructure Monitoring”
higher range compared to the other sensors, reaching up to [5]. Ana Sánchez-Rodrígue, Mario Soilán, Manuel
approximately 20,000,000 mm (20 kilometers). This makes Cabaleiro and Pedro Arias, Department of Natural
LiDAR suitable for long- distance applications. The Resources and Environmental Engineering, School of
ultrasonic sensor, represented in brown, has a medium range Mining Engineering, University of Vigo(2019),
capability, extending to about 300 mm (or 30 centimeters), “Automated Inspection of Railway Tunnels' Power
which is much lower than LiDAR but still useful for Line Using LiDAR Point Clouds”.
applications requiring moderate distance measurement. [6]. Mario Bijelic, Tobias Gruber and Werner Ritter “A
Finally, the IR sensor, shown in green, has the shortest range Benchmark for Lidar Sensors in Fog: Is Detection
among the three, reaching just a few millimeters. This limited Breaking Down?”, (2018) IEEE Intelligent Vehicles
range makes IR sensors suitable for short-distance Symposium (IV) Changshu, Suzhou, China, June 26-
applications, such as proximity detection. 30.
[7]. Filgueira a, H. González-Jorge, S. Lagüela, L. Díaz-
In summary, the chart highlights the vast difference in Vilariño, P. Arias, department of Natural Resources
range among these sensors, with LiDAR being idealfor long- and Environmental Engineering, School of Mining
range applications, ultrasonic for medium-range, and IR for Engineering, University of Vigo(2017), “Quantifying
short-range purposes. the influence of rain in LiDAR performance”.
[8]. Attila Börcs, Balázs Nagy, and Csaba Benedek(2017)
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Volume 9, Issue 11, November – 2024 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165 https://doi.org/10.38124/ijisrt/IJISRT24NOV207

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