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Vehicle-to-infrastructure (V2I) communication is vital in the successful deployment and operation of intelligent transport systems (ITS). One can observe a growing research interest on the effectiveness of V2I communication in the Fifth Generation (5G) networks supporting a co-existence of multi-tier heterogeneous wireless networks with diverse radio access technologies (RATs). The goal of this survey paper is to present the basic characteristics of V2I communication in heterogeneous multi-tier network environments. We first provide an overview of notable V2I applications and few of V2I related projects. We then focus on V2I communications over heterogeneous multi-tier networks. We identify several V2I research challenges and discuss possible solutions.