The family of an elderly man who died after being involved in a grisly crash with Venus Williams has filed suit against Florida government agencies for his death, but still believe the tennis star is responsible, DailyMail.com can disclose.

Jerome Barson, 78, had to be cut free and rushed to the hospital where he later died after the Hyundai he was riding in T-boned Williams’ SUV at a ‘dangerously’ busy intersection in Palm Beach on June 9, 2017.

The Barson family is suing Palm Beach government agencies for his ‘preventable’ death, arguing if the streets had been properly marked, the accident would never have happened, according to court papers filed in Palm Beach County on Thursday.

Although the Barsons resolved their original lawsuit against Williams in November, they still firmly believe Williams is at fault, lawyers told DailyMail.com.

Attorney for the family Michael Steinger, of Steinger, Greene & Feiner told DailyMail.com: ‘We are in no way claiming Ms. Williams was not negligent in the fatal collision, however we do agree that if the streets had been properly marked as they should be, it would of been a lot harder for Ms. Williams to make the unfortunate mistakes that she did.’

Jerome Barson, 78, (right with his wife Linda) had to be cut free and rushed to the hospital where he later died after the Hyundai he was riding in T-boned Venus Williams’ (left) SUV at a ‘dangerously’ busy intersection in Palm Beach on June 9, 2017

Although the Barsons resolved their original lawsuit against Williams in November, they still firmly believe the tennis star is responsible for his death, lawyers told DailyMail.com. Pictured: Williams’ Toyota SUV and the car Barson was riding in

The Barson family is suing Palm Beach government agencies for his ‘preventable’ death, arguing if the streets had been properly marked, the accident would have never happened, according to court papers filed in Palm Beach County on Thursday. Pictured: Scene of the crash and the busy intersection

The Barson family hopes the suit will bring around changes to the ‘dangerously’ busy intersection and prevent more accidents from occurring in the future.

The law firm said it reached out to Williams and her team to see if she wanted to help advocate to make the intersection safer, but the star wasn’t willing to participate.

Some of the agencies listed in suit include Palm Beach Gardens, Palm Beach County, the Florida Department of Transportation and the Steeplechase Property Owners Association.

Lawyers argue in court papers that if traffic lights at the intersection of Northlake Boulevard and Steeplechase Drive had been timed correctly; if there were pavement markings indicating the direction of traffic; stop bars and proper signs in place, Williams wouldn’t have collided with Barson’s car.

The two vehicles collided after Williams left the upscale gated community where Williams had owned a home for the past 20 years and entered a busy six-lane intersection.

The athlete started to turn left on a green light in her 2010 Toyota Sequoia but was cut up by a dark sedan and forced to stop, according to the Palm Beach Gardens Police Department.

Williams was left stranded in the middle of the intersection and by the time she was able to move again she was directly in the path of the Jerome Barson and his wife Linda, who was driving and by now had a green light.

The Barson family hopes the suit will bring around changes to the ‘dangerously’ busy intersection and prevent more accidents down the line. Pictured: Jerome and his wife Linda

Earlier this year, DailyMail.com exclusively obtained photos of the bloody aftermath of the horrifying car crash that threatened to derail Venus Williams ‘ glittering tennis career. A photo taken inside the granddad’s crumpled Hyundai Accent shows blood spattered across the seats, the windshield caved in and deflated airbags draped over the dashboard

Pictured: Dried blood splattered across the seat where Barson was sitting at the time of the fatal car crash

The images formed part of a probe by lead investigator Officer David Dowling, who said in his final report that neither driver would face charges. Pictured: Barson’s crumpled Hyundai

Police determined that their 2016 Hyundai Accent slammed head on into the passenger side of the tennis icon’s vehicle at 40 mph.

A police investigation cleared both drivers of fault and instead blamed an unidentified third vehicle for setting off the fatal chain of events.

The Barson family announced plans to sue government agencies in February 2018, but the suit was only filed last week.

The law states government agencies have to be given six months notice before a lawsuit can be filed.

There’s a $200,000 limit on what government agencies can be forced to pay for wrongdoing, therefore many of the agencies named in the suit would be protected by this.

However the Steeplechase Property Owners Association would not be.

Earlier this year, DailyMail.com exclusively obtained photos of the bloody aftermath of the horrifying car crash that threatened to derail Venus Williams‘ glittering tennis career.

The images show the mangled wreckage of Barson’s vehicle, as photos taken inside the granddad’s crumpled Hyundai Accent shows blood spattered across the seats, the windshield caved in and deflated airbags draped over the dashboard.

The law firm said they reached out to Williams and her team to see if she wanted to help advocate to improve the intersection’s safety, but the star wasn’t willing to participate

Pictured: Venus Williams listening to a Palm Beach Gardens police officer following the car crash

In stark contrast, Williams’ Toyota (pictured) escaped major damage, suffering dents and scratches to the front passenger corner and wheel arch

Images obtained under the Freedom of Information Act show how the impact completely destroyed the front-end of the smaller Hyundai.

Harrowing pictures of the interior reveal blood stains on the passenger seat where Jerome Barson was sat as well as what looks like a surgical brace left behind by medics.

In stark contrast, Williams’ Toyota escaped major damage, suffering dents and scratches to the front passenger corner and wheel arch.

The plush, leather-bound interior of her vehicle looked completely untouched, with two white USB chords dangling from the center console, and papers, receipts and trash strewn across the back seat.

The images formed part of a probe by lead investigator Officer David Dowling, who said in his final report that neither driver would face charges.

He concluded that the only violation was committed by the mystery motorist and that state law required Williams to exit the intersection once she had entered it.

His analysis confirmed that Linda Barson also waited for the lights to go green before proceeding.