In the last decade, there has been a huge increase in studies regarding autonomous vehicles and their use in real scenarios. Autonomous vehicles are now becoming safe and reliable also in everyday traffic, thanks also to a great number of sensors used to perceive the world around them. However, there are situations in which those sensors may not be so effective, mainly if something is blocking their view. Smart infrastructure can help connected vehicles, providing information about the road status even before the vehicle is able to sense it. In this thesis, it has been developed an entire software pipeline that extracts information from roadside sensors data and it uses this information to suggest to connected vehicles the manoeuvres to perform at an intersection.