I. Introduction
Vehicle-to-infrastructure (V2I) communication, which can improve the road safety and traffic efficiency by information exchange between vehicles and roadside units (RSUs), is one of the promising solutions for the intelligent transportation systems (ITS). With the aid of V2I communication, a series of Assisted Driving (AD) applications are enabled, e.g., curve speed warning, red light warning, stop signal warning, pedestrian warning, etc [1]. In view of the wide application foreground, both the Dedicated Short Range Communications (DSRC) and the cellular vehicle-to-everything (C-V2X) standard have launched the research of V2I networking [1], [2].