Many studies have been conducted using obstacle hazard values, called the potential method, for connected autonomous vehicles. However, most studies were conducted for static obstacles, and those for dynamic obstacles assumed an environment without oncoming or crossing vehicles. In this study, we devise an algorithm for generating potential values considering time series characteristics using information that can be obtained through inter-vehicle communication and propose a path-finding algorithm that uses these potential values. As an evaluation of the usefulness of the proposed method, we compare it with existing potential methods. The results show that, in some situations, the route derived by the proposed method is superior to the route derived by the existing potential method in terms of safety and time to reach the destination.