We propose a position-based routing protocol for cognitive radio vehicular ad hoc networks (CR-VANETs) using a Kalman filter algorithm. The protocol first selects an idle channel from among all the channels available to a vehicle while moving on a straight road and then finds the best relay node to deliver the packet to the destination. The selection of a relay node is done by dividing the vehicular transmission range into five regions, and then the source/relay node selects the one that is in the region having a higher preference than other regions. Communication between two vehicles occurs only when both the vehicles are on the same channel. Delay may increase while sensing the channel and selecting the relay node. To reduce the delay, we use a Kalman filter to predict the future positions of all moving vehicles in the network. We consider vehicle-to-vehicle communication and compare our protocol for different probabilities of primary user being idle. Our proposed protocol shows improvement in both packet delivery ratio and end-to-end delay.
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