Intelligent Transport System (ITS) is a transport system that uses communicating technologies such as cellular network communication, digital video broadcasting and adhoc wireless communication to link people on the road, vehicles with aim of solving various traffic related issues. Vehicle to infrastructure (V2I) communication is an important research area to develop cooperative self-driving support system using DSRC technology. V2I develops an environment friendly system that also accelerates the fuel efficiency by establishing high quality links between vehicles to roadside infrastructure. It is a system to prevent and help drivers to overlooking or missing the red lights at junctions. V2I system along the road side and intersections continuously transmit the traffic signal information to vehicles by warning the driver about red lights and thus help us to prevent road rule violations. ITS helps to prevent drivers' oversight about signals right/left turn collision avoidance and timely activation of brake system. In the proposed work we used a three-layer Vehicle to Infrastructure (V2I) network architecture to collect and disseminate the safety information using static and dynamic agents. These methods help us to quickly selecting high quality error free links to forward the data packets. In a highway road scenario with moderate traffic density, the proposed system gives an improved performance in terms of coverage area, lossless transmission and reduced latency. Finally, qualitative comparison is made with present V2I system and found significance improvement in its performance metrics. The outcome of the proposed system improved by 23%, 13%, 15% compared to the existing system in terms of end-to-end delay, communication overhead and energy consumption respectively considering V2I network architecture.