In the autonomous vehicles scenario, the V2I communication between vehicles and the road infrastructure is becoming a useful way to increase safety conditions of vulnerable road users. By equipping the infrastructure with a camera, it is possible to handle dangerous situations such as occlusions in a cross road. This can be done by running an object tracking and trajectory prediction algorithm for each road user and inform incoming intelligent vehicles about their position. In this thesis, has been developed a multi-thread framework able to manage different objects tracked at the same time. The framework aims to define the best object tracking algorithm provided by OpenCV C++ library and to solve the Multiple Object Tracking (MOT) and trajectory prediction problem in order to assist intelligent vehicles in their maneuvers.