Cooperative vehicle infrastructure system (CVIS) is an essential part of the future intelligent transportation system (ITS). However, CVIS is uneasy to meet different QoS requirements of various information flows in the existing traffic environment. In fact, some real-time applications highly related to traffic safety early warning cannot be easily achieved or passengers' Internet accessing experience is always not very good. To overcome the above problem, this paper proposes a communication protocol named data networking for vehicle infrastructure cooperation (NDNVIC), which can respond to the vehicle's data query timely. In this paper, we utilize some ZigBee nodes as vehicle and RSU nodes and conduct several simulation experiments under a large-scale deployment with 150 RSU nodes to verify the effectiveness of NDNVIC. Compared with the traditional TCP/IP protocol, the response rate of NDNVIC is about four times, as fast as, that of TCP/IP.