The integration of 5G networks with autonomous vehicles is poised to revolutionize the field of Intelligent Transportation Systems (ITS), offering low-latency, high-bandwidth communication necessary for real-time vehicle and infrastructure interactions. This paper proposes a novel Internet of Things (IoT) framework designed to leverage 5G technologies for optimizing Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communication. The framework aims to enhance the safety, traffic flow, and energy efficiency of autonomous vehicles by enabling faster, more reliable communication among vehicles and between vehicles and infrastructure. By utilizing 5G’s ultra-low latency and high data throughput, the proposed framework supports real-time data exchange, allowing for timely decision-making in critical situations such as collision avoidance, traffic signal optimization, and dynamic route planning. The design of the IoT framework is validated through simulations that demonstrate significant improvements in traffic efficiency, safety, and energy consumption compared to conventional communication systems. The results highlight the potential of 5G -enabled V2V and V2I communication to transform urban mobility, making it safer, more efficient, and environmentally friendly. Future work will explore the integration of machine learning models for adaptive traffic management and further refinement of the framework to accommodate large-scale deployment in real-world environments.