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Vehicular fog computing (VFC) has been expected as a promising scheme that can increase the computational capability of vehicles without relying on servers. Comparing with accessing the remote cloud, VFC is suitable for delay-sensitive tasks because of its low-latency vehicle-to-vehicle (V2V) transmission. However, due to the dynamic vehicular environment, how to motivate vehicles to share their idle computing resource while simultaneously evaluating the service availability of vehicles in terms of vehicle mobility and vehicular computational capability in heterogeneous vehicular networks is a main challenge. Meanwhile, tasks with different priorities of a vehicle should be processed with different efficiencies. In this work, we propose a task offloading scheme in the context of VFC, where vehicles are incentivized to share their idle computing resource by dynamic pricing, which comprehensively considers the …