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The densification of the vehicle fleet leads to numerous challenges in road safety management. Wireless Sensor Networks (WSN) helps to manage vehicle-vehicle-infrastructure interactivity, in particular to predict dangers and avoid accidents, detect and penalize traffic violations. This requires a massive deployment of communicating nodes embedded in vehicles and in road infrastructure. The reliability of the systems built on these nodes lies in the accuracy of the ranging. In order to improve the factors that impact accuracy, various ranging protocols have been developed, but their implementations most often involve the use of expensive and specialized transceivers, which incorporate a dedicated IEEE 802.15.4a ranging layer. Our approach implements the basic and advanced functions integrated into low-cost transceivers and microcontrollers. As result, in two or three links according to the case, our protocol performs simultaneously the ranging and the data exchange, against a specific ranging session with a minimum of three exchanges for the other protocols. Moreover, each node knows the ranging data and has its clock frequency adapted to the controlled process. So, we meet the challenges of large-scale low-cost node deployment, while ensuring high reliability and performance of ranging.