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Autonomous driving and intelligent transportation demand ultra-low latency and high reliability communication in future vehicular networks. Proactive wireless communication can facilitate minimal latency by open-loop communication, which discards traditional feedback control mechanisms. However, appropriate radio resource allocation in such proactive mobile networks has not been fully studied due to lacking channel state information (CSI) and the alleviation of multiple access interference (MAI) in multiple virtual cells. This paper aims to ensure the reliability of downlink communication by a novel radio resource allocation scheme in proactive vehicular networks with ultra-low latency. We regard data transmission success rate as the reliability indicator and propose a joint radio resource allocation model based on the “generalized closed-loop”, where anchor node (AN) uses the radio resource utilization information (RRUI) from the vehicle in the immediate past uplink as a guide to assist resource allocation. Subsequently, we study the radio resource allocation model solution on the vehicle side and the network side respectively. On the vehicle side, vehicles use the local or global data transmission experience to select the radio resource with the best quality as the RRUI. On the network side, according to the latest RRUI of vehicle and resource occupancy information, deep reinforcement learning is proposed to make appropriate radio resource allocation decisions. Simulations demonstrate the effectiveness of the intelligent joint radio resource allocation scheme under the cooperation between vehicles and AN. When the resource load rate reaches 40%, the joint radio resource allocation scheme can achieve a data transmission success rate of more than 98%.