The purpose of this research is to prevent crashes on level-crossing and to develop a new wireless anti-collision system for railway and road vehicles based on embedded devices in addition to existing wired and light signalization and to existing braking systems of the trains. Mathematical models, target functions, algorithms and computer models are developed. The results of simulation of proposed level-crossing anti-collision system show the possibility to avoid crashes, detect and warn about dangerous conflict points and react immediately. The workability of new embedded anti-collision devices has been tested in real railway system in Latvia and approved. The system demonstrated the capability to work in emergency situations, respond to dangerous obstacle appearance and is able to initiate an automatic emergency braking.