Infrastructure element state model and prediction

A traffic safety device for monitoring a vehicle and an object in a vicinity of an infrastructure element and for generating and providing the vehicle with a recommendation to avoid or reduce impact with the object, the traffic safety device comprising:

• a non-transitory computer readable medium comprising instructions which, when executed, cause one or more processors to:
• receive sensor information from a sensor that is mountable to an infrastructure element, wherein the sensor information comprises information about the object at or in a vicinity of the infrastructure element and information about the vehicle;
• determine, using the sensor information, that the object impacts a route or trajectory of the vehicle;
• determine, using the sensor information and a route or trajectory of the vehicle, a recommendation for the vehicle to change the impact of the object on the route or trajectory of the vehicle;
• generate a message comprising the recommendation;
• and
• control a transmitter to send the message to the vehicle;
• wherein the recommendation comprises a vehicle velocity recommendation, a vehicle acceleration recommendation for the vehicle to reduce the impact of the object on the route or trajectory of the vehicle, or a route recommendation to reduce the impact of the object on the route or trajectory of the vehicle.