I. Introduction
Intelligent transport systems (ITSs) can be pushed forward by V2X communication with cooperative operations [1]. As an important part of ITS, Internet of vehicles (IoV) is recognized by academia and industry to improve traffic efficiency, road safety and the availability of infotainment services. The data transmission in IoV has the requirement of ultra-reliable and low latency communication (URLLC). The fifth generation (5G) cellular mobile networks, combined with heterogeneous network, large-scale multiple-input-multiple-output (MIMO), device-to-device (D2D) and other complementary technologies, provides tremendous opportunities for the development of IoV. The 5G vehicular network has the performance of higher network capacity, more reliable connections and lower end-to-end delay [2].