In this study, a new method was developed to automate vehicles. Numerous vehicle control systems have been realized for electronic steering, driving, and braking. Higher-standard vehicle control systems have increased costs. This study focused on cloud vehicle control using roadside sensors and computers. If a high-standard vehicle control system can be realized by using vehicles with no sensors or computers, this can create a new service model for transport. The key point was to obtain state quantities of vehicles and to maintain vehicle-to-roadside communication. The proposed method obtains state quantities of vehicles with roadside sensors by using the iterative closest point algorithm. The vehicle positions are correlated with communication information. The control quantities of the vehicles are received by roadside computers. Experiments using electric vehicles showed that the proposed method can realize high-standard vehicle control for self-driving vehicles.