Algorithm 3 SDVN-Based Routing Process for CAVs

Input: Vehicle task request $Req$, Nodes $u,v$ Output: Optimal routing path 1: procedure Vehicle_Association ($Req$) 2:   CandidateRSUs ← ScanCommunicationRange (Vehicle) 3:   for each RSU in CandidateRSUs do 4:     LinkQuality (RSU) ← EvaluateLink (RSU) 5:     TrafficLoad (RSU) ← GetTrafficLoad (RSU) 6:   end for 7:   BestRSU ← argmin_{RSU}(TrafficLoad (RSU), LinkQuality (RSU)) 8:   QueueVehicleRequest (BestRSU, $Req$) 9:   Transmit ($Req$, SDVN_Controller) 10: end procedure 11: procedure Routing ($Req$, TopologyData) 12:   Source ← ${Req}_{source}$ 13:   Destination ← ${Req}_{destination}$ 14:   for each link ($u,v$) in TopologyData do 15:     Weight ($u,v$) ← ComputeWeight ($u,v$) 16:   end for 17:   Paths ← ShortestPathAlgorithms (Source, Destination, Weight) 18:   Send (Paths, SDVN_Controller) 19: end procedure