A connected traffic safety system comprises at least one roadside unit and a vehicle detection device. The roadside unit is configured to transmit wireless signals and receive corresponding responses from a corresponding wireless device of an Onboard Unit (OBU)-equipped vehicle, and to send at least one of vehicle location data, direction heading data, elevation data and speed data from the OBU-equipped vehicle to a traffic signal controller. The vehicle detection device is configured to generate vehicle detection data of at least one non-Onboard Unit (OBU)-equipped vehicle. The roadside unit to receive the vehicle detection data for creating a proxy data wireless message for the non-Onboard Unit (OBU)-equipped vehicle. The roadside unit to mimic the proxy data wireless message as a first Basic Safety Message (BSM) for the non-Onboard Unit (OBU)-equipped vehicle that would have been available to the Onboard Unit (OBU)-equipped vehicle present nearby.