I. Introduction
Driven by the deployment of Intelligent Transport Systems (ITS), more and more applications, which focus on efficient and safe transportation by using communication technologies, have emerged [1], [2], [3], [4], [5]. A variety of communication technologies for Dedicated Short Range Communications (DSRC) [6] were proposed for exchanging vehicular status. And IEEE 802.11p, adding wireless access in the vehicular environment (WAVE), is working on standard specification. By combining intelligent infrastructure with inter-vehicle communication, road safety has become an important application for ITS. The road safety control system not only can prevent intersection collisions but also can alleviate traffic jams. Thus, the VRGS, when comparing with the tradition routing algorithms, deals with the issue of effective routing under the constraint of collision avoidance of vehicles.