Communication protocols in Vehicular Sensor Networks (VSNs) in urban areas play an important role in intelligent transport systems applications. Many cross layer communication protocols studies are originated from topology-based algorithms, which is not suitable for the frequently-changing computational scenario. In addition, the influence factors that have been considered for VSNs routing are not enough. With these aspects in mind, this paper proposes a multi-factor cross layer position-based routing (MCLPR) protocol for VSNs to improve reliability and efficiency in message delivery. Considering the complex intersection environment, the algorithm for vehicles selection at intersections (called AVSI) is further proposed, in which comprehensive factors are taken into account including the position and direction of vehicle, the vehicle density, the signal-to-noise-plus-interference ratio (SNIR), as well as the frame error rate (FER) in MAC layer. Meanwhile, the dynamic HELLO STREAM broadcasting system with the various vehicle speeds is proposed to increase the decisions accuracy. Experimental results in Network Simulator 3 (NS-3) show the advantage of MCLPR protocol over traditional state-of the-art algorithms in terms of packet delivery ratio (PDR), overhead and the mean end-to-end delay.