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The advent of 5G technologies enables highly anticipated prospect of the internet of things in smart cities. Smart terminals become a necessity with increasing number of applications and tasks. The limited computational resources and constrained battery energy at terminals compel tasks to be offloaded for execution sometimes. For time-sensitive and safety-critical tasks, fog computing is the preferred option instead of cloud computing, since fog computing brings the computing resources to the edge of networks and thus has shorter response latency. In this context, vehicular fog computing (VFC) that supplements fog computing by contributing vehicular computing resources has attracted increasing attention in recent years. However, a few of challenging issues regarding task offloading in VFC still need to be addressed. For example, decision making for task allocation and response latency optimization are not …