Frequency error, non-ideal channel estimation (CE) and inefficient seamless road side unit (RSU) service are critical issues occurring in conventional systems that are completely specified by current IEEE 802.11p standards. This study investigates novel techniques for achieving accurate frequency offset compensation and effective CE and RSU selection for handover in signal-overlapping areas. Recently, communications using data-aided orthogonal frequency-division multiplexing (DA-OFDM), such as pseudo-random-postfix OFDM and time-domain-synchronous OFDM (TDS-OFDM), have been actively studied because of their higher effectiveness, efficiency and better transmission quality. This study consists of three parts: (i) derivation of the maximum likelihood estimation for DA-OFDM, (ii) design of an accurate RSU selection scheme and (iii) implementation of a superior TD CE technique. Performance comparisons between the conventional and the proposed techniques are conducted through comprehensive computer simulations.