The last few years have seen rapid advancements in deploying semi and fully-autonomous vehicles into the mass market. Several car manufactures and technology companies have spent years developing these vehicles with aspirations to mass produce their own autonomous automobiles. In the same time period, however, the average age of a passenger vehicle on the road has increased to 11.4 years, as of 2015. This has led to an approximate 50:1 ratio of standard passenger vehicles as compared to their fully and semi autonomous counterparts, and a widening gap between newer and older (legacy) vehicles occupying the same highways. This research seeks to address this issue by outlining a framework that would provide legacy vehicles and newer autonomous enabled automobiles a method to interact with each other and their surrounding infrastructure, creating a true Intelligent Transportation System (ITS).Intelligent transportation systems use two types of communications, Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I). Both of these communication types already have several Institute of Electrical and Electronics Engineers (IEEE) protocols and International Standards Organization (ISO) standards / hardware specifications that dictate how they function, however, these methods often involve adding costly sensors and other peripherals to the vehicle / roadway that must adhere to these strict standards to enable them to communicate effectively. Most proposed ITS systems do not incorporate older (legacy) vehicles into their communication schemes or algorithms. The research outlined in this dissertation highlights a novel framework that would enable full integration of legacy vehicles into an all encompassing ITS. This framework would ensure all automobiles, not just modern ones, are able to transmit and receive critical vehicle telemetry and other vital data points to one another to improve roadway safety. This framework would aid in expediting the shift from standard manual vehicle control to a fully autonomous and connected infrastructure future.