The environment of the work done in this thesis are the smart cities. A smart city is an urban area that collects data in order to efficiently manage infrastructures and resources. The proposed architecture involves the use of three different systems: the autonomous vehicles, the non-autonomous vehicles and the cloud system. The autonomous vehicles have the purpose of acquiring information, the non-autonomous vehicles have the purpose of acquiring information and support the autonomous vehicles, the cloud system processes the monitoring data and execute the path algorithm. The path planner algorithm calculate the path optimizing a risk function, evaluated considering the cells of a risk map.