Efficient and dynamic path planning has become an important topic for urban areas with larger density of connected vehicles (CV) which results in reduction of travel time and directly contributes to environmental sustainability through reducing energy consumption. CVs exploit the cellular wireless vehicle-to-everything (C-V2X) communication technology to disseminate the vehicle-to-infrastructure (V2I) messages to the Base-station (BS) to improve situation awareness on urban roads. In this paper, we investigate radio resource management (RRM) in such a framework to minimize the age of information (AoI) so as to enhance path planning results. We use the fact that V2I messages with lower AoI value result in less error in estimating the road capacity and more accurate path planning. Through simulations, we compare road travel times and volume over capacity (V/C) against different levels of AoI and demonstrate the promising performance of the proposed framework.