I. Introduction
As one of the most important evolution of vehicular networks (VANETs) and Internet of Things (IoT), Internet of Vehicles (IoV) has emerged as a promising technology to address the grand challenges of modern transportation. In the IoV, vehicles, road side units (RSUs), and smart devices smoothly interact with each other through Vehicle-to-Everything (V2X) communications to achieve the goals of Intelligent Transportation Systems (ITSs), such as improving the safety, efficiency, and sustainability of transportation networks, reducing traffic congestion, and enhancing drivers’ experiences [1]. It is expected that the number of passengers and commercial vehicles used worldwide is about to reach 2 billion by 2035 [2], and there will be 20.8 millions autonomous vehicles in operation in the U.S. by 20230 [3]. Moreover, the McKinsey & Company Global Institute predicts that the potential economic value of IoV will be between 740 billion in the year 2025 [4]. However, IoV is fast becoming a double edged sword: while it is improving our life, it also bring many other problems. The explosive growth in the number of vehicles has potentially caused and even worsened traffic congestion and vehicle accidents on the roads. According to the annual global road crash statistics from Association for Safe International Road Travel [5], nearly 1.25 million people die in road crashes each year, on average 3,287 deaths a day.