Autonomous vehicle (AV) technology relies on robust, high-speed wireless communication systems to ensure safety and efficiency, particularly as we move towards 6G networks. Orthogonal Time Frequency Space (OTFS) modulation has emerged as a key solution to address the challenges posed by high-mobility environments, such as rapid Doppler shifts and time-varying channels. This paper investigates the application of OTFS modulation in AV driving systems, proposing a comprehensive system architecture for its integration within a 6G framework. Through performance evaluations and a case study, the paper demonstrates OTFS’s ability to provide reliable, low-latency communication between AVs and infrastructure, positioning it as a transformative technology for future autonomous transportation systems.