This paper describes the work that has been done in the design and development of a vehicular peer-to-peer data sharing system, with the objectives of increasing the situational awareness of the motorist and to reduce or eliminate accidents. Sensors are used to detect objects along the road that a vehicle is travelling on. This information is then displayed to the motorist and warning messages are relayed to peer vehicles through vehicle to vehicle communication. To improve the situational awareness of the motorist, each vehicle can receive and send information to a road side unit, through vehicle to infrastructure communication. A central server remotely manages and monitors the overall peer-to-peer system. Qualification tests are conducted to validate various aspects of the system. The results indicate that the system is capable of vehicle to vehicle communication and vehicle to infrastructure communication communication for sharing information to prevent accidents and promote safe driving.