  Edge-assisted vehicle-to-everything (V2X) motion planning is an emerging
paradigm to achieve safe and efficient autonomous driving, since it leverages
the global position information shared among multiple vehicles. However, due to
the imperfect channel state information (CSI), the position information of
vehicles may become outdated and inaccurate. Conventional methods ignoring the
communication delays could severely jeopardize driving safety. To fill this
gap, this paper proposes a robust V2X motion planning policy that adapts
between competitive driving under a low communication delay and conservative
driving under a high communication delay, and guarantees small communication
delays at key waypoints via power control. This is achieved by integrating the
vehicle mobility and communication delay models and solving a joint design of
motion planning and power control problem via the block coordinate descent
framework. Simulation results show that the proposed driving policy achieves
the smallest collision ratio compared with other benchmark policies.
