Undeniably, the increasing number of vehicles on the roads has automatically led to the unbelievable number of accidents occurring every day and the need for a safe communication system among the vehicles has become quite urgent. Using such systems, vehicles can communicate via wireless communication technologies and protocols like ZigBee, WiMax, Bluetooth, GSM, and RF. This paper introduces a communication system that works on preventing accidents by making all the surrounding vehicles communicate using RF, IoT, and LCD technologies to show all the warnings and the indications sent from other vehicles and a VLC that is connected to every vehicle to detect and send all needed information of occurring accidents on the road to all connected vehicles and to identify the hit or damaged ones. Moreover, the framework proposed in this paper attempts to perform mutual authentication procedures between vehicles and road-side units based on radio frequency identification devices and cloud computing. According to this framework, a low-cost device has been implemented using an LED lamp and an electrical circuit to control the LED luminous flux, and the modulated carrier signal has also been modified to effectively suppress the low-frequency noise. It should be noted that the experiments have shown that vehicular networks must be resilient and self-adapted to failures and potential threats to support coordinated transportation systems. Finally, the security analysis has also shown that the proposed framework is efficient, easily deployed and capable of finding the best routing paths between communicating vehicles.