The Internet of Things (IoT) is expanding the capabilities of traditional vehicular ad-hoc networks (VANET) into the Internet of Vehicles (IoV). However, there are a few challenges that need to be addressed in order to enhance the intelligence of IoV, leading to the development of a new evolving technology called Cognitive Internet of Vehicles (CIoV). In this study, we propose a road-aware infrastructure-assisted and vehicle-to-vehicle (V2V) adaptive routing system to select the most efficient route for delivering data from the source to the destination vehicle, with the aim of reducing data delivery delay. The performance is measured and evaluated based on packet delivery ratio (PDR), average end-to-end (E2E) delay, and normalised routing overhead using MATLAB. By comparing the proposed mobile adaptive routing algorithm (MARA) with existing protocols, it has been examined and found to outperform the existing ones in terms of performance.