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Cloud services are charming for vehicular ad hoc network (VANET) users. Advances of wireless networks make access to the Internet from VANETs possible. However, the features of VANETs hinder the delivery of cloud services to VANETs. It is important to find proper Internet gateways to connect the VANET users to the cloud. A cloud-assisted gateway discovery scheme is proposed in this paper. The simulation results show that the proposed scheme can increase the packet delivery rate, reduce the end-to-end delay, and decrease the signaling load for routing to Internet in VANETs.