  Vehicular fog computing (VFC) is envisioned as a promising solution to
process the explosive tasks in autonomous vehicular networks. In the VFC
system, task offloading is the key technique to process the
computation-intensive tasks efficiently. In the task offloading, the task is
transmitted to the VFC system according to the 802.11p standard and processed
by the computation resources in the VFC system. The delay of task offloading,
consisting of the transmission delay and computing delay, is extremely critical
especially for some delay-sensitive applications. Furthermore, the long-term
reward of the system (i.e., jointly considers the transmission delay, computing
delay, available resources, and diversity of vehicles and tasks) becomes a
significantly important issue for providers. Thus, in this article, we propose
an optimal task offloading scheme to maximize the long-term reward of the
system where 802.11p is employed as the transmission protocol for the
communications between vehicles. Specifically, a task offloading problem based
on a semi-Markov decision process (SMDP) is formulated. To solve this problem,
we utilize an iterative algorithm based on the Bellman equation to approach the
desired solution. The performance of the proposed scheme has been demonstrated
by extensive numerical results.
