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This paper investigates the optimal data transmission for collaborative driving in autonomous vehicular networks (AVNs). We consider that vehicles communicate with each other based on the definition of Robot Operating System (ROS), which is a pervasively adopted middleware operating system for autonomous vehicles such as Baidu Apollo. ROS defines a publish/subscribe scheme for inter-vehicular communications, in which vehicles subscribe to “topics” published by adjacent vehicles; a “topic” is related to the real-time sensing/computing data that a vehicle intends to share with nearby neighbors, e.g. , radar or camera images captured. By sharing various sensing data using different topics at the real-time, vehicles in the same area therefore can collaboratively drive with cooperative perception and computing. However, multiple data flows for different topics would coexist along overlapping transmission paths …