Quick and accurate message transmission is an important research topic for vehicular ad hoc networks (VANET). Most studies assume that the periodic broadcast of beacon frames between vehicles increases the safety of the driver. In particular, there has been a lot of research into broadcasting based on carrier sense multiple access with collision avoidance (CSMA/CA) algorithms for medium access. However, the CSMA/CA algorithm is not an optimum technique for the VANET system, due to the transfer delay that occurs in inducing frequent collisions on transmission signals. In this paper, we propose a collisionavoidance directional medium access (CADMA) protocol and infrastructure-utilized clustering method for VANET to support reliable data transfer. In the proposed scheme, the CADMA protocol uses non-competitive transmission methods and cluster heads (CHs) to manage access by allocating the nodes resources. In addition, the roadside unit (RSU) helps with the clustering process. The simulation results indicate that the CADMA can reduce transmission delays and the collision rate of the broadcasting signal, and have shown that the CADMA can be effectively utilized for the VANET systems.