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Recent advances in wireless communication, sensing, and computing technologies have paved the way for the development of a new era of Internet of Vehicles (IoV). Nevertheless, it is challenging to process data and computation intensive tasks with strict time constraints due to heterogeneous communication, storage, and computation capacities of IoV network nodes, spotty wireless connections in vehicles and infrastructures, unevenly distributed workload, and high vehicles mobility. In this paper, we propose a two-layer vehicular fog computing (VFC) architecture to explore the synergistic effect of the cloud, the fog nodes, and the terminals on processing data and computation intensive IoV tasks. Then, we formulate the real-time task offloading model, aiming at maximizing the task service ratio. Further, considering the dynamic requirements and resource constraints, we propose a real-time task offloading …