With the increasing number of vehicles, traffic jam becomes one of the major problems of the fast-growing world. Intelligent transportation system (ITS) communicates perilous warnings and information on forthcoming traffic jams to all vehicles within its coverage region. Real-time traffic information is the prerequisite for ITS applications development. In this paper, on the basis of the vehicle-to-infrastructure (V2I) communication, a novel infrastructurebased vehicular congestion detection (IVCD) scheme is proposed to support vehicular congestion detection and speed estimation. The proposed IVCD derives the safety time (time headway) between vehicles by using iterative content-oriented communication (COC) contents. Meanwhile, the roadside sensor (RSS) provides an infrastructure framework to integrate macroscopic traffic properties into the estimation of both the traffic congestion and vehicle safety speed. The main responsibilities of RSS in IVCD are to preserve privacy, aggregate data, store information, broadcast routing table, estimate safety speed, detect traffic jam, and generate session ID (S-ID) for vehicles. Monte Carlo simulations in four typical Chinese highway settings are presented to show the advantage of the proposed IVCD scheme over the existing Greenshield's and Greenberg's macroscopic congestion detection schemes in terms of the realized congestion detection performance. Real road traces generated by Simulation of Urban Mobility (SUMO) over NS-3.29 are utilized to demonstrate that the proposed IVCD scheme is capable of effectively controlling congestion in both single and multilane roads in terms of density and speed health with previous schemes in this field.