A roadside equipment (RSE) system that can be used for controlling traffic signals and other equipment and corresponding method. A method includes maintaining a traffic signal in a GREEN phase in a first direction, including displaying a GREEN indicator in the first direction. The method includes detecting an event indicating that the phase of the traffic signal in the first direction should be changed and changing the phase of the traffic signal to a pre-YELLOW phase in response to the detected event, including continuing to display the GREEN indicator in the first direction. The method includes wirelessly transmitting a message indicating the pre-YELLOW phase and a phase time, the phase time indicating a next change of phase of the traffic signal, and changing the phase of the traffic signal to a YELLOW phase when the phase time has been reached.