Edge Computing and Network Function Virtualization (NFV) concepts can improve network processing and multi-resources allocation when intelligent optimization algorithms are deployed. Multiservice offloading and allocation approaches pose interesting challenges in the current and next-generation vehicle networks. The state-of-the-art optimization approaches still formulate exact algorithms, and tune approximation methods to get sufficient solutions. These approaches are data-centric that aim to use heterogeneous data inputs to find the near optimal solutions. In the context of connected and autonomous vehicles (CAVs), these techniques show an exponential computational time and deal only with small and medium scale networks. Therefore, we are motivated by using recent Deep Reinforcement Learning (DRL) techniques to learn the behavior of exact optimization algorithms while enhancing the Quality of Service (QoS) of network operators and satisfying the requirements of the next-generation Autonomous Vehicles (AVs). DRL algorithms can improve AVs service offloading and optimize edge resources. An Optimal Virtual Edge Autopilot Placement (OVEAP) algorithm is proposed using Integer Linear Programming (ILP). Moreover, an autopilot placement protocol is presented to support the algorithm. Optimal allocation and Virtual Network Function (VNF) placement and chaining of the autopilot, based on several new constraints such as computing and networking loads, network edge infrastructure, and placement cost, are designed. Further, a DRL approach is formulated to deal with dense Internet of Autonomous Vehicle (IoAV) networks. Extensive simulations and evaluations are carried out. Results show that the proposed allocation strategies outperform the state-of-the-art solutions and give better performance in terms of Total Edge Servers Utilization, Total Edge Servers Allocation Time, and Successfully Allocated autopilots.