<p>The Internet of Things (IoT) and wireless sensors collaborate to collect and analyze physical data in diverse real-time environments. Modern mobile networks provide vital support for emerging applications involving connected autonomous vehicles (CAVs) and the management of critical situations. Autonomous vehicle-based routing systems have made significant progress in enabling reliable and efficient communication among vehicles. However, challenges remain in ensuring consistent data delivery and reducing transmission latency, largely due to the unpredictable nature of the environment and the dynamic status of IoT sensors. This study introduces a novel AdHoc protocol for a reliable autonomous vehicle routing system that enhances overall network performance. The system, termed Ad-hoc Autonomous Inter-Communication for IoT (AAIoT), is designed to deliver superior service quality and comprehensive data coverage. The proposed protocol incorporates a simulated annealing optimization technique to establish an adaptive routing process. Its primary aim is to improve energy efficiency in vehicles through IoT integration while ensuring statistically optimal decisions, even in highly dynamic conditions. In addition, the protocol introduces a robust security layer capable of detecting potential threats through dependable, session-oriented communication across vehicular networks. This contributes to reducing uncertainty within autonomous decision-making systems. Simulation experiments conducted across a wide range of vehicular scenarios and iterations validate the effectiveness of the proposed approach, demonstrating its ability to sustain reliable communication pathways while preserving both authenticity and system intelligence.</p>