  5G vehicular communication is one of key enablers in next generation
intelligent transportation system (ITS), that require ultra-reliable and low
latency communication (URLLC). To meet this requirement, a new hybrid vehicular
network structure which supports both centralized network structure and
distributed structure is proposed in this paper. Based on the proposed network
structure, a new vehicular network utility model considering the latency and
reliability in vehicular networks is developed based on Euclidean norm theory.
Building on the Pareto improvement theory in economics, a vehicular network
uplink optimization algorithm is proposed to optimize the uplink utility of
vehicles on the roads. Simulation results show that the proposed scheme can
significantly improve the uplink vehicular network utility in vehicular
networks to meet the URLLC requirements.
