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In recent years, vehicular communication systems have taken an important place in Intelligent Transport Systems (ITS). These systems are designed on self-organizing networks, known as Vehicular Ad hoc NETworks (VANETs). Their objective is to struggle against road safety problems and road traffic congestion by integrating information and communication technologies in road infrastructures and vehicles. VANET differs from other types of ad hoc networks by high mobility and very dynamic topology. Consequently, the design of an efficient VANET routing protocol becomes a challenging task. Many routing schemes with QoS (Quality of Service) have been proposed in the literature for VANET, to satisfy the performances required by the different applications running upon such networks. Cross-layer designs, which make it possible to exchange and share information between the different layers of the network, have shown to be efficient in VANETs. This paper proposes an improved version of the geographic Greedy algorithm as a cross-layer routing protocol for VANETs. The cooperation between the network layer and the lower layers involves three cyber-physical parameters: Speed, position and Signal-to-Noise Ratio (SNR). The simulation results over the Network Simulator-3 (NS3) demonstrated the effectiveness of the proposed solution in terms of end-to-end delay, throughput and packet delivery ratio. [ABSTRACT FROM AUTHOR]