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Vehicle-to-everything communication (V2X) has recently attracted considerable attention in 5G and beyond 5G due to its potential benefits, including increased capacity, spectral efficiency, and delay reduction, as well as the ability to provide new services associated with intelligent transportation. Several modes of communication can be used for V2X communications, namely sidelink mode, cellular uplink/downlink mode, and combined modes of communication which enable vehicles to communicate directly with each other. The challenge, however, is to select the appropriate operating mode in accordance with the requirements of V2X services. To minimize the overall latency of the V2X communications links, we propose a novel latency-aware mode coordination (LAMOC) algorithm that constructs an association graph of the vehicular network’s elements and finds the feasible path that minimizes total latency. The …