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Vehicular Communication Networks and Systems (VCNS) and Intelligent Transportation Systems (ITS) are one of the most attractive and challenging topics in recent days since a well efficient protocol for vehicular communication can facilitate the reduction of traffic congestion and can provide us with many more promising applications. In this paper, we propose a protocol for vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) communication. As one of the challenging parts of this paper, we present an experimental testbed in which two major applications of V2I & V2V communication (i.e. traffic congestion detection and emergency warning) is implemented. Based on careful analysis, we also calculate some key system parameters which reflect the efficiency of the protocol in different applications.