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Vehicle-to-everything (V2X) communications have become a key enabler for future autonomous driving by providing sensing and cooperation abilities beyond traditional on-board sensors. The main candidate technologies for V2X communications are dedicated short range communication (DSRC)/IEEE 802.11p and long-term evolution (LTE), each of which has its own strengths and weaknesses. DSRC provides low-latency direct connectivity, but suffers from serious link degradation and reliability issues. On the other hand, LTE is able to provide high capacity data transmission, while its latency remains an issue due to the long transmission time interval. Integrating these two radio technologies as a heterogeneous solution is promising to complement each other and support V2X applications with differentiated service requirements. This paper proposes a service-aware radio access technology (RAT) selection …