Vehicle-to-everything (V2X) communication including multi-type vehicles is more realistic and complex than one-type scenario, vehicles with different type need different policy for communication. Considering an emergency, ambulance needs vehicle-to-vehicle(V2V) communication more than vehicle-to-satellite (V2S) and vehicle-to-infrastructure(V2I) to make way for itself. To this purpose, we could use prior domain knowledge to define the behaviors of each type, but this structure will lose adaptability and flexibility to environment. Therefore, we apply role-oriented actor-critic to make the vehicle agent with similar type share similar policy, and learn to arrange their transmission modes, power and sub-channel to maximize the system utility. With role-oriented property, each vehicle agent can make better decision according to environment and its type.