Abstract: Considering the effect of time-varying channel on the resource allocation scheme, a vehicle user power minimization problem with task QoS requirement constraints is formulated. By utilizing the vehicle channel predictability and Lyapunov theory, the original problem is reformulated as two sub-problems of a single variable, which can be solved easily. Thus an algorithm is proposed to solve these two sub-problems of resource allocation and then a joint radio and computation resource allocation scheme is formed according to the two sub-problems solutions. The simulation results show that the power consumption of the proposed algorithm is decreased by 48.85% compared with traditional greedy algorithm when the data average arrival rate grows from 20 packets/slot to 40 packets/slot.