The study of vehicular networks has attracted considerable interest in academia and the industry.In the broad area,connected vehicles and autonomous driving are technologies based on wireless data communication be-tween vehicles or between vehicles and infrastructures.A Vehicle-to-Infrastructure(V21)system consists of communications and computing over vehicles and related infrastructures.In such a system,wireless sensors are installed in some selected points along roads or driving areas.In autonomous driving,it is crucial for a vehicle to figure out the ideal routes by the communications between its equipped sensors and infrastructures then the vehicle is automatically moving along the routes.In this paper,we propose a Bezier curve based recursive al-gorithm,which effectively creates routes for vehicles through the communication between the On-Board Unit(OBU)and the Road-Side Units(RSUs).In addition,this approach generates a very low overhead.We conduct simulations to test the proposed algorithm in various situations.The experiment results demonstrate that our algorithm creates almost ideal routes.