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With Charlie, I started in the house feeding him high value food like pieces of cheese or liver, while rubbing his side and saying "calm" at him. He was living his best life there being petted and fed treats! That made him associate "calm" with a really good feeling. He was scared of traffic too, so I started in the memorial garden near me which is set back from the road. We got to the point where he was aware of the road and we just walked backwards and forwards with me petting him, feeding treats and saying calm. The next time we did it a step closer to the road. And so on until I eventually got him walking along the footpath next to the road. He's great now with most traffic apart from noisy things like a big lorry or an old bus.
If we come across anything else he's scared of, I use "calm", treats and the stroking to get him past. It's kind of saying to him, yes these things are here but they're nothing to do with us and it's safe to ignore them.