Peer-to-Peer Networking and Applications

https://doi.org/10.1007/s12083-020-00993-4

Machine learning models and techniques for VANET based traffic

management: Implementation issues and challenges
Sahil Khatri1 · Hrishikesh Vachhani1 · Shalin Shah1 · Jitendra Bhatia1 · Manish Chaturvedi2 · Sudeep Tanwar3 ·
Neeraj Kumar4

Received: 22 February 2020 / Accepted: 26 August 2020

© Springer Science+Business Media, LLC, part of Springer Nature 2020

Abstract
Low latency in communication among the vehicles and RSUs, smooth traffic flow, and road safety are the major concerns
of the Intelligent Transportation Systems. Vehicular Ad hoc Network (VANET) has gained attention from various research
communities for such a matters. These systems need constant monitoring for proper functioning, opening the doors to
apply Machine Learning algorithms on enormous data generated from different applications in VANET (for example,
crowdsourcing, pollution control, environment monitoring, etc.). Machine Learning is an approach where the system
automatically learns and improves itself based on previously processed data. These algorithms provide efficient supervised
and unsupervised learning of these collected data, which effectively implements VANET’s objective. We highlighted the
safety, communication, and traffic-related issues in VANET systems and their implementation in-feasibility and explored
how machine learning algorithms can overcome these issues. Finally, we discussed future direction and challenges, along
with a case study depicting a VANET based scenario.

Keywords VANET · Machine learning · Safety · Communication · Traffic

1 Introduction mobile phone sensors, and other wireless equipment to

With the commencement of the smart city, the need for
intelligent mobility increases. Traffic flow monitoring and
congestion management are some of the main aspects of a
smart city. An increase in the number of incidents of traffic
congestion and inefficient wireless communication system
for traffic management leads to the concept of Intelligent
Transportation Systems (ITS). The primary objectives of
ITS, such as traffic congestion control, road safety, and
efficient infrastructure usage, can be implemented using
VANET.
There is an increasing demand for research in the field
of VANET, which includes vehicles equipped with On-
Board Units such as global positioning system (GPS),
This article belongs to the Topical Collection: Special Issue on
P2P Computing for Deep Learning
Guest Editors: Ying Li, R.K. Shyamasundar, Yuyu Yin, Moham-
mad S. Obaidat
 Neeraj Kumar
neeraj.kumar@thapar.edu
Extended author information available on the last page of the article.
support V2V and V2I communication. The vehicles in
VANET have high mobility, leading to network congestion,
connection instability among the components of VANET,
and communication failure. Authentication mechanisms for
communication in VANET must have low computational
overhead for robustness and scalability [1]. The malicious
nodes or links affect the authenticity and decision making
of V2X receivers [2].
Nowadays, VANET also comprehends the 5G network-
based Software Defined Networking (SDN) [3] system, which
requires an efficient routing protocols [4] [5]. Dedicated Short-
Range Communications (DSRC) and Wireless Access in
Vehicular Environment (WAVE) are the two standard proto-
cols for VANET communication. These protocols transmit
data either using multi-hop transmission or a single node
carry the data as long as possible to reduce data congestion
in the channel. With all these transmissions, rises the vul-
nerability attacks on it. So it is essential to provide security
services [6] in those communications in different levels of
ITS.
With the tremendous increase in the number of vehicles,
traffic management has become a severe concern in
vehicular networks [7]. According to the survey of
 Peer-to-Peer Netw. Appl.

traffic accidents, most accidents occur at the intersections, Table 1 Summary of Abbreviations and Notations
resulting in the blockage of some part of roadways and
Abbreviation Description
cause events like speed reductions, rubbernecking, and
discharge flow reduction leading to significant traffic ITS Intelligent Transportation System
delays [8]. VANET provides an effective medium for VANET Vehicular Ad hoc Network
communication between roadside units (RSU) and vehicles. GPS Global Positioning System
With this growing period of technology, smartphones have V2I Vehicle-to-Infrastructure
become a boon in some or the other way. By integrating V2V Vehicle-to-Vehicle
this with different technologies like GPS, Internet of Things RSU Roadside Units
(IoT) [9, 10], Cloud Computing [11], Global Navigation SVM Support Vector Machine
Satellite System (GNSS), most of the problems like traffic k-NN k Nearest Neighbors
management, safety, routing, and communication can be CNN Convolutional Neural Network
handled using a simple touch on the screen [12] [13] [14]. ANN Artificial Neural Network
Table 1 describes the abbreviations used throughout the ML Machine Learning
paper. HMM Hidden Markov Model
Many coexisting events occur at the same time in RMSE Root Mean Square Error
vehicular networks. In Fig. 1, some situations are visualized, MAPE Mean Absolute Percentage Error
such as crash occurrence, communication among mobile MAE Mean Absolute Error
nodes, trans-passing of high priority vehicles, and data
ETA Estimated Time of Arrival
congestion at RSU. All these events generate an enormous
PCA Principal Component Analysis
amount of data that can be full-fledge exploited for further
RF Random Forest
data analytics and prediction.
BP Backpropagation
AUC Area Under Curve
1.1 Machine learning models and techniques in
ELM Extreme Learning Machine
VANET
NLoS Non Line of Sight
NB Naive Bayes
In VANET, the primary goal is to provide each mobile
LSTM Long Short Term Memory
node’s safety and reduce the rate of accidents and data
PDR Packet Delivery Ratio
delivery latency. The instability of the network structure
EED End-to-End Delay
leads to routing issues. The data-rich environment in the
IDS Intrusion Detection System
VANET system leads to data congestion on RSUs. Many
traditional prediction-based protocols have been devised for MPR Multi Point Relay
routing, traffic management, safety, and various specific NN Neural Network
purposes. However, none of them integrated a machine OLS Ordinary Least Square
learning (ML) approach for further data analytics, which MLP Multilayer Perceptron
motivates the integration of machine learning models DBN Deep Belief Network
with conventional models to improvise the performance DNN-BTF Deep Neural Networks Based Traffic Flow Prediction
[15, 16]. Various techniques of machine learning such as RNN Recurrent Neural Network
Support Vector Machine (SVM), k-nearest neighbors (k- FDCN Fuzzy Deep Concolutional Network
NN), k-means clustering, Naive Bayes (NB), Convolutional TID Traffic Incident Detection
Neural Network (CNN), and Artificial Neural Network DNN Deep Neural Network
(ANN) unfold such problems by analyzing the data flow NLP Natural Language Processing
in the VANET system [17]. Also, safety is one of the AWT Average Waiting Time
primary objectives of the intelligent transportation system. WTV Waiting Time Variance
For safety provisioning, the essential aspect is to detect STKNN Spatio-Temporal K Nearest Neighbors
the objects and obstacles on the road. The k-NN and GA-LWR Genetic Algorithms - Locally Weighted Regression
CNN methods provide better performance for obstacle ADAS Advanced Driver Assistance Systems
detection using visual data [18]. Data transmission in ECU Electronic Control Unit
5G-VANET requires Gbps links for which Millimetre-
Wave bands are most suitable [19]. An appropriate beam
selection using machine algorithms can be devised for data Inclusion of ML in VANET can help determine reliable
transmission by considering surrounding environmental data processing and forwarding from one node to another
features [20]. or between different layers of the ITS system by deploying
Peer-to-Peer Netw. Appl.

Fig. 1 VANET System

the Bayesian Coalition Game theory [21]. The intermediate multiple types of data. These data can be generated using
node can be cooperative or non-cooperative in the data various simulation tools to analyze the situations at micro-
processing. With the help of ML, reliability of nodes for scopic and mesoscopic levels. The Table 2 provides an
Spatio-temporal data transferring [22] and processing can overview of such simulators that can be used to create and
be determined [23]. analyze real-life traffic scenarios.
Different kinds of data are generated at various compo- Various metrics for evaluation of the outcomes of
nents of VANET [24]. RSUs, vehicular nodes, and central machine learning models are:
station have information such as the details of surround-
1 2
n
ing vehicular nodes, routing information, congestion-related MSE = et (1)
data, weather-related information, and information required n
t=1
for communication among components of VANET. This 
 n
enormous amount of data keeps generating due to dynam- 1 
icity in VANET. Machine learning techniques can be inte- RMSE =  et2 (2)
n
grated with VANET to utilize this data for several applica- t=1
tions of VANET efficiently. Figure 2 shows the taxonomy
1
n
where various data can be used for different purposes in MAE = |et | (3)
VANET. Also, various traffic scenarios can give insight into n
t=1

Fig. 2 Solution Taxonomy: Adoption of Machine Learning in VANETs

 Peer-to-Peer Netw. Appl.

n  
100%   et 

- Connected and Autonomous Vehicles - Mobility as a Service

- Mobility as a Service - Demand Responsive Transportation

MAP E = y  (4)
n t
t=1

Confusion Matrix:

Positive Prediction Negative Prediction

Positive Class True Positive False Negative
Negative Class False Positive True Negative
Time discrete car following model

Classification Report is used to measure the quality of

predictions from the classification algorithms.
Precision describes how precise/accurate the model is out
Time continuous model
Traffic Mobility Model

QSim and JDEQSim

of those predicted positive, how many of them are Actual

Positive.
T rueP ositive
P recision = (5)
T rueP ositive + F alseP ositive
Recall calculates how many of the Actual Positives does
the model correctly detects.
T rueP ositive
Recall = (6)
T rueP ositive + F alseNegative
Programming Language

No scripting required

F1 Score seeks the balance between Precision and Recall.

C++ and Python

2 ∗ P recision ∗ Recall
F 1 − Score =
Visual Basic

(7)
P recision + Recall
Python

Java

1.2 Motivation

With advancements in applications, networks, devices, and

vehicles, wireless networks are becoming more and more
Microscopic / Mesoscopic

Microscopic / Mesoscopic

complex [25]. These complex networks generate a large

Simulation Paradigm

amount of data that needs to be exploited by smartly [26].

These data generated can be used for various purposes, such
as for safety, traffic management, efficient communication
Microscopic

Microscopic

Microscopic

among different units of VANET, and so forth. In the

VANET system, vehicular nodes are highly mobile, which
leads to instability of links and frequent changes in the
network topology. Thus, it is of significant concern that the
data generated is effectively utilized [27].
Effective utilization of the generated data opens the door
A continuous road traffic simula-
tion package designed to handle

A software package for highway

Works on demand and supply

accordingly receives a simulation

concept, where the agent spec-
ifies the independent plans and

Simulate complex vehicle inters-

actions realistically on a micro-

Large scale design and validation

of path planning algorithms for

for modern techniques like machine learning to make the

system self-adaptive. Machine learning consists of compu-
tational statistical models used for making predictions and
real-life road network

and freeway systems

self driving vehicle

decisions using massively available data. This predicting

and decision-making ability might play an essential role
for such plans

scopic level

in VANET. There exist different machine learning algo-

Description

rithms for various purposes, like supervised, unsupervised,

Table 2 Simulation Tools

and reinforcement learning algorithms. However, this area

has not been extensively reviewed before to the best of
our knowledge. There is various review work that has been
done in the field of VANET but does not incorporate ML
PTV Vissim

techniques to improvise the overall system. In Table 3, we

AIMSUN
MATSIM
CORSIM

acknowledged the work that is focused on incorporating ML

SUMO
Tool

techniques in VANET. These works are primarily focused

 Peer-to-Peer Netw. Appl.

Table 3 Comparison of Existing Surveys on VANET

Article Features SVM k-NN HMM Neural Network Logistic Regression Other Evaluation metric Relation with VANET

Hossain et al. [28] Application of ML in Cognitive   -    MAE, RMSE Security Issues, Road Accident,
Ratio (CR) based VANET Traffic Congestion, Resource
Allocation
Fotros et al. [29] Single and multi-hop broadcast - - - - -  - Safety Applications, Traf-
routing protocols fic Management, Routing
Challenges in VANET
Alrehan et al. [30] NGSIM traffic dataset which  - -  -  - Misbehavior detection in com-
contains both attacker and normal munication
traffic data
Tong et al. [31] Road visibility conditions, walk-   -  -  - Safety, vehicle monitoring, con-
ing distance, parking time, vehi- tent delivery and offloading
cle speed, queue length
Ditcharoen et al. [32] Streetlight, bad visibility, speed, - - - -  - - Road safety
traffic volume, safety status of
vehicle
Suhas et al. [33] Traffic volume, Speed, Traffic     -  RMSE, MAPE, MAE These methods are used for traf-
flow, Occupancy, Weather fic prediction
Kavitha et al. [34] Video surveillance and speed  - - - -  - Vehicle detection and tracking
classification of vehicle, speed,
etc.
Jensen et al. [35] Video and images obtained from  -  - -  - Traffic light classification
driving around the city
Barros et al. [36] Traffic flow, Density, Speed, -    -  MAPE, PAE, MAE, RMSE Real time traffic flow prediction
Travel time, Weather

on the comprehensive review of real-time traffic predic-
tion, accident prediction, video-based data collection, DDoS
attack detection, Routing protocols, and vehicle monitoring.
These applications are reviewed on ML-based algorithms
like SVM, k-NN, Hidden Markov Model (HMM), and Neu-
ral Networks (NN). For evaluation of the results, they used
various statistical methods such as Root Mean Square Error
(RMSE), Mean Absolute Percentage Error (MAPE), and
Mean Absolute Error (MAE). The Table 4 emphasis on the
projects related to the implementation of ITS and VANET
in the real world. These projects are implemented in the
metropolitan cities for deploying various applications of
VANET.
After studying these existing review works, we found
that machine learning and VANET together are reviewed
based on some specific applications only. This review
aims to provide a thorough study of the assessment of
machine learning techniques in various aspects of VANET.
Based on our research, we organized our discussion into
the areas of Safety, Communication, and Traffic. This
survey delivers a detailed assessment of machine learning
techniques for various applications in the respective
domain. As per our knowledge, such a comprehensive
study of different applications in VANET is not done so
far.
1.3 Contributions
The following are the contributions of this paper.
Table 4 Implemented Projects Related to VANET
Project
Glebe Road ITS Improvement
Tampa (THEA) Pilot
New York City (NYC) DOT Pilot
Hamburg Electric Autonomous Transportation(HEAT)
CIMEC project (Cooperative ITS for Mobility in European Cities)
Peer-to-Peer Netw. Appl.
1. We reviewed the existing survey of machine learning
techniques and models in VANET, evaluation metrics
used, and shortcomings. We also pointed out the current
projects going on in this domain.
2. We categorize the review work into different appli-
cations. This categorization showcases how machine
learning techniques can be incorporated for advance-
ments in VANET. Moreover, we also summarized the
research work in terms of merits, demerits, accuracies,
and key technologies used.
3. Finally, we conclude with open issues, and future
research opportunities.
1.4 Organization
This rest of the paper is organized as follows. Section-2
discusses the traffic safety issues in detail with the recent
advancements of smart traffic systems. Communication is
the most critical aspect of the ITS. All the VANET applica-
tions directly or indirectly depend on efficient communica-
tion among vehicles and infrastructures. Section-3 discusses
the integration of various ML techniques in communication.
Section-4 discusses the application of machine learning
techniques across multiple traffic disciplines [42]. Section-5
focuses on the recent trends of machine learning techniques
in respective disciplines of VANET along with their future
directions. Section-6 discusses a case study depicting var-
ious scenarios in VANET. Finally, section-7 concludes the
work by highlighting some open issues and challenges.
Description Implemented at
The project is the initiative taken Arlington, USA
at Glebe Road corridor with
ITS facilities and reversible lane
control [37]
THEA project based on the Florida, USA
reversible express lane(REL) and
works on various V2V and V2I
application to relieve traffic con-
gestion, collisions [38]
The main aim of the project is to New York, USA
provide assistance to the traveler
and provide safety to pedestrian
people [39]
The HEAT project is based on Hamburg, Germany
the research and development of
autonomous driving [40]
CIMEC project emphasis on Europe
developing meta-networks
of cities to optimize the ITS
experience [41]
Peer-to-Peer Netw. Appl.
2 Safety
Traffic accidents may lead to massive damage to vehicles
and surroundings, which sometimes may seriously injure
living beings. Thus, with the advancement in the smart
traffic system, the question of safety also arises. It is crucial
that vehicular nodes can effectively communicate all the
safety-related information gathered from vehicles and RSUs
in real-time. An ITS should assist the driver, a safe route
selection, and accurate detection of traffic signs to promote
smooth traffic flow without any hindrance or collision.
The traffic system should have the facility to forecast the
unexpected situation that might occur by broadcasting the
pre-collision messages to avoid hazardous conditions. Apart
from that, On-Board Units must provide the information
on the particular vehicle regarding its structural integrity
and safety in a collision situation. To efficiently incorporate
such features in VANET, we subdivided the survey of
safety into three parts in which machine learning approaches
can be used. The following section discusses incorporating
such safety features using machine learning algorithms
for various application purposes. Figure 3 depicts multiple
scenarios that can occur related to safety factors. A review of
existing work in the area of safety is summarized in Table 5.
2.1 Driver assistance
Various sensors embedded in the vehicles generate a large
amount of data. Along with this, data obtained from the
surrounding environment can be processed to understand
the driver’s behavior and mindset, which ultimately helps to
provide smart assistance to the driver [57]. In this approach,
Eldar et al. [58] have developed a road type classification
solution from the front camera as the source. Accurate
and robust information about the type of road can help
various events such as vehicle steering, acceleration, and
braking performance. DNN algorithm for road type and
condition gives an accuracy of 88.8 % on average, having
six categories of road pavement types. They also have
developed a mathematical model for improving vehicle
dynamics control via Anti-lock Breaking System (ABS)
Fig. 3 Safety Applications in VANET
by predicting friction coefficient using available data. The
proposed work results in a reduction of stopping distance
for all analyzed road types and condition.
Verma et al. [59] has proposed a system that recognizes
emotions based on face detection and expression analysis
of the driver’s emotional state to detect the attentiveness of
the driver. The author has used the face detection model
based on a mixture of trees that uses a pool of data to
identify the face robustly. The output of this model is given
to two separates neural networks. The first network is used
to extract appearance features, and the second network is
used to remove geometrical features from landmark points
on facial images. Further, the author combined the output
of these two networks to recognize the emotions accurately.
This approach has proven to be best, as the system can alert
the driver for their emotional state in necessary situations.
Chandrasiri et al. [54] proposed a method for driving
skill classification of the drivers. Attributes used for this
classification are steering angle, longitudinal and lateral
acceleration, speed, and yaw rate. For feature extraction,
principal component analysis (PCA) was applied to these
attributes. Driving skills were classified into high, average,
or low using SVM and k-NN classifiers. The resultant
accuracy is 95.70%. The approach [59] is of the driver’s face
and expressions, but it does not accumulate actual driving
skills. Whereas the work is done by Chandrasiri et al. [54]
accumulated real driving skill for feature extraction.
A fraction of negligence can cause an accident. As
a solution to this, Reddy et al. [50] proposed a deep
neural network (DNN) based model which can detect
the drowsiness of the driver. The proposed CNN model
classifies the driver’s mood into normal, yawning, or tired.
Different combinations of features (left eye, right eye, face,
and mouth) and the number of kernels for convolutional
layers have experimented, which resulted in an accuracy
of 90%. To reduce the congestion and operator response
time due to traffic incidents requires an automatic real-time
classification of the severity of an event. Nguyen et al. [52]
used classification algorithms (NB, KNN, SVM, Decision
Tree) with five-fold cross-validation, among which decision
tree outperforms with an accuracy of about 90%. For
Table 5 Summary of ML in Safety Applications

Author ML technique used Performance

Zhao et al. [43] Deep Learning - Better classification results

- Increased number of neurons leads to increased complexity and thus performance of the model reduces
Peng et al. [44] Deep Learning - It outperforms k-NN, DT, ANN, SVM, Image based deep learning in terms of mean precision and mean
recall
Dairi et al. [45] k-NN, Agglomerative Cluster- - Non parametric approach. No assumptions of data convexity. Acquires high flexibility and accuracy
ing, k-means, Spectral Cluster-
ing, Affinity Propagation, Birch
Dogru et al. [46] SVM, RF , ANN - Sensitivity and accuary ratio are high
- Detects normal traffic flows as accidents
Zhao et al. [47] PCA, SVM, Deep Learning - Outperforms conventional methods even though there is large dependencies among the features in VANET
Ye et al. [48] CNN Classifier - Incorporating environmental features shows better accuracy on the analysis of the dataset
- Detected many false regions
Zhao et al. [49] Adaboost - Performs very well in regular traffic conditions
Reddy et al. [50] Deep learning - This model can be easily embedded along with Advanced Driver Assistance System and Driver
Monitoring System.
Not effective at night time.
Kim et al. [51] ELM, CNN - Able to learn complex convolution and deep architecture with reduced training time
- Lack of training data
Nguyen et al. [52] NB, k-NN, SVM, Decision Tree - Classification algorithms were used with five-fold cross-validation.
Yuan et al. [53] SVM, Deep Learning - Better localization accuracy, and Intensive comparisons and analysis of the public datasets
- Over imposition of spatial distribution features on the traffic sign detection
Chandrasiri et al. [54] PCA, SVM, k-NN, - Model effectively classifies for curves with different angular shapes and radiuses
- In complex traffic environment it does not give effective results
Sun et al. [55] RF, SVM, k-means clustering - Overfitting is eliminated and higher crash prediction rate
- Increase in the false alarm rate and weather conditions are not considered in the data
Al et al. [56] RF - Focuses on a model for making the vehicles automated
- The work is not focused on non-autonomous vehicles
Peer-to-Peer Netw. Appl.
Peer-to-Peer Netw. Appl.
further enhancement, the dataset was trained after removing
outliers and results in additional improvement of 3.4%.
In the future, autonomous vehicles will play a significant
role in ITS [60, 61]. For the selection of a safe and
optimal trajectory of such vehicles, Al et al. [56] used a
big data mining approach incorporating the use of real-life
accidents and vehicular data. The estimated accident time
and estimated arrival time are calculated using Distributed
Random Forest (DRF) and Linear Regression algorithms.
The model gives an output of a safe trajectory in the form of
position, ETA, distance, and fuel consumption.
2.2 Collision alert
Safety can be provided to a vehicular node by notifying
about a severe accident to the driver before actually happen-
ing. It includes the detection of objects that might obstruct
the conventional trajectory, vehicle’s behavior, and chances
of occurrence of a crash. This section contains the research
work related to the collision alert to provide safety to the
vehicular node. Sun et al. [55] proposed a hybrid architec-
ture, a combination of SVM based model and clustering
algorithm, used to predict the chances of occurrence of the
crash. The model is divided into two stages. (A) The model
uses a Random Forest (RF) Algorithm to select the two most
significant and essential features required for the prediction
of crashes. (B) Using the chosen element, a hybrid model is
prepared by cross-validating and checking the transferabil-
ity of a different model such as the SVM model, having the
variable selection, and no variable selection. The accuracy
achieved by the proposed model is as high as 78%. Thus,
the result signifies that the combination of variable selec-
tion and clustering is essential. The overall accuracy is 80%
(Hybrid Model), and crash accuracy is 78% (Hybrid model).
Zhao et al. [47] proposed an approach to predict a collision
between vehicles using PCA and neural networks. Firstly,
the striking features are selected for the model by calcu-
lating the correlation between features available and traffic
accidents. To make these features linearly independent, they
are decorrelated using PCA. A Backpropagation (BP) neu-
ral network is then applied to these features. An output
closer to 0 indicates a lesser possibility of an accident.
These approaches proven to be better than SVM, whose per-
formance decreases with extensive data set. The proposed
method has 92.5% accuracy. The proposed work by Sun
et al. [55] is based on SVM and RF model whereas the work
proposed by Zhao et al. [47] is based on PCA and BP Neu-
ral Network which results in higher accuracy because of
making features linearly independent.
Driving safety prediction algorithms have shown signifi-
cant progress but still lacks to consider the relativity of three
different factors viz., driving information, traffic informa-
tion, and driver’s information. To incorporate these features,
the proposed work [43] suggested a model that is a com-
bination of factorization machines and neural networks. In
the pre-training phase, factorization machine and neural net-
works are used to learn the effects of low-order and high
order feature interaction from driving and weather infor-
mation [62]. The inputs of DNN are high-order feature
interactions extracted using the last hidden layer, and the
second one is the low order interaction developed using the
factorization machine. These inputs are used to predict the
driving safety. The dataset of UK car accidents from 2005-
15 is chosen to validate the proposed work. Area Under
Curve (AUC) and log loss of the proposed work are 0.9359
and 0.313 respectively.
The above work focuses on the prediction of the
crash and improvement in detecting the object accurately.
Dairi et al. [45] proposed a work of stereo-vision
based method. This method is for obstacle detection
in normal routine traffic. It includes the use of deeply
stacked autoencoders (DSA) that combine greedy learning
features and reduce the number of random variables under
consideration by obtaining a set of important variables. It
implements an unsupervised learning method – (k-NN) –
to detect obstacles accurately and precisely. The author
tested this method on publicly available datasets – The
Malaga Stereovision urban dataset, The Daimler Urban
Segmentation Dataset, and The Bahnhof Dataset. Accuracy
in different scenarios are True Positive - 97.2, False Positive
- 2.8, True Negative - 84.4, False Negative - 15.6, True
Positive Rate - 0.86, False Positive Rate - 0.03, and AUC -
0.91.
Dogru et al. [46] explained a real-time traffic accident
detection method and combined a few of ML techniques
with V2V (vehicle to vehicle) communication. This work
has a different approach to provide collision alerts by
analyzing the behavior of the vehicle. Based on the speeds
and coordinates of vehicles, the data was collected from
the vehicular network. Since the available data is according
to every vehicle’s speed and coordinates, ML algorithms
are employed to analyze the vehicle’s behavior and predict
the accident if it is bound to happen. The SVM, ANN,
and RF are the algorithms used on the dataset obtained to
distinguish the usual case from an accident-prone example.
The RF algorithm turned out to be more efficient than the
other two, with an accuracy of 91.56%.
2.3 Vehicle safety
Vehicle safety refers to the information provided by On-
Board Units to the driver regarding the vehicle’s internal
data such as structural integrity, and other surrounding
details like lane detection and mode of transportation. This
information helps to analyze the safety of the vehicle. This
section discusses the work done in this direction. Kim et al.

[51] proposed the work of a new learning model named
Extreme Learning Convolutional Neural Networks for Lane
Detection. The conventional CNN requires a considerable
amount of data and computation [63]. Extreme Learning
Machine (ELM) is a learning method that drastically
reduces the learning time and gives accurate results by
calculating the network weights between the hidden layer
and output in a single iteration. The author proposes a
self-learning framework that combines ELM and CNN.
The combined model helps CNN to work even on small
datasets efficiently. In this proposed method, a new layer is
bumped between the subsampling layers and convolutional
layers. The new layer added at last is fully optimized
using conventional ELM, and the remaining layers are
modified using the modified backpropagation learning.
This combined model ensures a significant decrease in
computation time. Accuracy of KNU database is 95%, and
Caltech database is 98.2%.
As proposed by Ye et al. [48] for the safety of vehicles,
accurate detections of lane markings play an essential role,
and they analyzed the characteristics of road geometry to
detect the lane markings and used CNNs. The success rate
of the work is 99.25%. The above work [48] focuses on
effective lane detection methods by CNN. These kinds of
information can be utilized for further safety analysis, For
example, [44]. Peng et al. [44] proposed a work, initially
aiming at collecting data through mobile data sensing in
VANET and gradually identified two significant aspects
of the vehicle, i.e., Road and driving safety analysis. A
novel method of deep learning - DeepRSI is proposed
to conduct real-time road safety prediction. The work
considers the spatial-temporal relationship between GPS
trajectories and external environmental factors. DeepRSI
outperforms over the different machine learning algorithms
like Decision Tree, k-NN, and SVM method, having mean
precision of 83.2%, highest precision of 90.7%, and lowest
precision of 74.1% . For accident risk prediction, Zhao
et al. [49] combined a series of weak classifiers with
robust classifiers and trained them using the AdaBoost
algorithm. The performance of this model outperformed
the Decision Tree model. The AUC of the proposed model
is 0.69.
3 Communication
Communication is the most critical aspect of the ITS. All the
VANET applications directly or indirectly depend on effi-
cient communication among vehicles and infrastructure(s).
An enormous data is generated in the VANET system
for different purposes like safety alerts, traffic detection,
and traffic forecast, that needs to be assessed accordingly.
Peer-to-Peer Netw. Appl.
Managing this data is a crucial task as the network fre-
quently changes due to the high mobility of vehicular nodes.
VANET, it is imperative to broadcast urgent priority mes-
sages to all the nearby vehicular nodes that are concerned
[64]. Such an open-access environment needs an efficient
security structure that can immediately perform authenti-
cation on the network having dynamic topology [65] [66].
Thus, suitable techniques are required to manage the com-
munication links and, therefore, the communication system
in the VANET. Sometimes, a situation where malicious
information gets communicated in the network may occur
because of fault in the nodes or RSUs. The modern-day cars
have inbuilt OBUs such as sensors, mobile phones, which
makes the communication vulnerable. Moreover, Radio Fre-
quency jamming attacks are one of the most challenging
attacks that need to be detected. High mobility of the
vehicles and smooth changes in the topology makes the
detection even more challenging [67]. To avoid such situa-
tions and to provide the required services for the abnormal
system behavior, ML techniques prove to be useful.
For communication between vehicles and RSUs, routing
is essential. Routing is a challenging task in VANET
due to its dynamic topology. Due to dynamicity in
the network, the routing decision needs to be taken
immediately and accurately. Anomalies in the network,
fluctuation in packet delivery ratio (PDR), connection
timing between nodes, the secured transmission of packets,
etc. affect the path selection for transmission in the
network. For the effective communication among the
vehicular nodes in VANET, Machine Learning Assisted
Route Selection(MARS) system is used to stabilize the
transmissions, to make efficient routing decisions, and
reduce transmission delays [68, 69]. Real-time information
on vehicular traffic helps in route selection for packet
transfer, based on the Expected Connectivity Degree (ECD)
[70]. These dynamic routing decisions are made using
various machine learning approaches that have significantly
lowered delay rates and packet loss rates with increased trust
value for the path selected [71]. Thus, machine learning
improves the efficiency of the routing protocol [72].
As communication involves the transmission of data on
the channel, controlling this data is vital for the efficient
working of the VANET system. The communication occurs
among the nodes of the VANET system, so misbehavior
should not be there in these nodes. Also, for transferring
messages, the reliable link must be set up with the
neighbors[73]. And lastly, the route for the data from source
to destination must be optimal. Therefore, we assessed
the application of machine learning in the following
subsections: 1. data control 2. misbehavior detection 3. link
management 4. routing. Figure 4 shows various situations
related to communication that might arise in a real-time
Peer-to-Peer Netw. Appl.
Fig. 4 Communication in VANET
traffic condition. A review of existing work in the area of
communication is summarized in Table 6.
3.1 Data control
Data control concerns the flow of the information in
the VANET system. The channel utilization for various
applications like V2V and V2I communication, computing,
and caching of the data at nodes are all surveyed under
the data control mechanisms as reliable data dissemination
is crucial in vehicular networks [93]. Data controlling
approaches are discussed as follows.
At any intersection, involving traffic signals, generally
due to high traffic, there is high or immensely vast
communication ongoing between the vehicles in the traffic.
Taherknani et al. [91] has proposed a new algorithm,
named as Machine Learning Congestion Control (ML-CC)
to detect this congestion. ML-CC approach consists of
three units. First is a congestion detection unit that detects
congestion by measuring channel usage. Second is a data
control unit that collects and cleans the messages to remove
redundant messages and ultimately clusters the messages
in the respective groups using k-means clustering. The
third one is a congestion control unit, which determines
communication parameters that included transmission range
and rate, contention window size, and AIFS for each cluster
based on the minimum delay to transfer the messages. RSU
then sends these parameters to the vehicles waiting at the
traffic signal to reduce congestion in channels. The proposed
strategy reduced the packet loss ratio, average delay, and
increased the average throughput by 27.9% and PDR.
Efficient caching and computing of these data is essential
so that resources requested by the vehicles can be allocated
accordingly. For this, Tan et al. [76] proposed a deep
reinforcement learning approach where data is collected
from RSUs and vehicles. It then forms the system states,
which indicate the vehicle’s mobility and communication
channel information along with caching contents and the
computing resources at RSUs and vehicles. The deep Q-
network receives these data and determines the optimal
action that needs to be performed at RSUs and vehicles.
Thus, by combining various approaches likewise mentioned
in [91] and [76], we can optimally cache and compute data
to transmit it effectively by analyzing the channel status.
Massive heterogeneous data is generated from multiple
sources such as vehicle sensing data, GPS data, self-driving
related data, and vehicular mobile service data, resulting in
Big Data. It has been found that the key factors responsible
for the link degradation are a Non-Line of Sight conditions
(NLoS). Cheng et al. [78] proposed a novel scheme to detect
NLoS condition using V2V measurement data. For this, the
author used SVM and NB algorithms. Results showed that
SVM slightly outperforms NB in all different scenarios (i.e.,
Highway, Suburban, Urban).
The problem of channel congestion increases for beacons
when the traffic flow increases. Lyu et al. [81] contributed to
work by carrying out empirical studies and stated that NLoS
is the critical determinant of link degradation and suggested
that impetuously sending the packets during severe NLoS
condition results in low graded communication between
vehicles. The work proposed a scheme named Distributed
Beacon Congestion Control scheme (DBCC), that vehicles
having more number of neighbors and having strong links
with them are assigned with higher beacon rates. The work
used two different machine learning approaches, i.e., SVM
and NB, using the data of packet behaviors to estimate the
NLoS condition in any real-time state. The accuracy ratio
for this model is 85%.
3.2 Misbehavior detection
Misbehavior detection refers to abnormal activity detection
in the VANET communication system. This misbehavior
could be the flaw in the vehicular nodes, which leads to
Table 6 Summary of ML in VANET Communication

Author ML technique used Performance

Qi et al. [74] Deep Learning - Effective handling of services at edge computing nodes
Ye et al. [75] Deep Learning - Finds optimal transmission power level and sub-band
Tan et al. [76] Deep Learning - Systematic resource allocation and flexible caching cooperation
- Large coded segment reduces the performance which increases the overhead to fetch the content
from Base Station
Sangare et al. [77] SVM - Even with the noise in database, it is able to predict the transmission probability
Cheng et al. [78] NB, SVM - Efficiently detects NLoS condition
He et al. [79] Deep Learning - Convergence performance and total utility increases
- Risk of getting local optimum instead of global optimum
Tuzi [80], 2018 CNN - Better range estimation for greater distances
- Range estimation comes with relatively higher variability
Lyu et al. [81] Naı̈ve Bayes, SVM - Predicts crash, cooperative rear-end collision, and blind-spot warning
- Resource allocation is less and large number of reception collisions
Nie et al. [82] CNN - Network traffic estimation by extracting the spatio temporal features
Pal et al. [83] Conventional Clustering - Clustering helps in reducing the frequent disconnections and the effect of high mobility
- Difference in analytical and simulation results
Tang et al. [84] Deep Learning - Lower average delays, and packet loss rates along with effective handling of congestion cases
- Dynamic change of traffic condition is not considered which affects the weights of Deep CNN
Sharma et al. [85] SVM - Reduced overhead, lightweight and less complex model
Shams et al. [86] SVM - High PDR and Malicious vehicle detection rate and reduced delay
Ghaleb et al. [87] Artificial Neural Network, - It includes parameters such as time interval between informations received, overlapped area,
BackPropogation vehicles uncertainty, average occuring distance, and so forth
Zhang et al. [88] Deep Learning - Efficient link prediction compared to the link lifetime methods and other learning based methods
Roscher et al. [89] Deep Learning - High accuracy estimation of the probability of any particular class and shorter period of uncertainty
Zhao et al. [90] SVM - Packet loss and network delay associated with the GPSR are reduced
Taherkhani et al. [91] k-means - Average Throughput and PDR are comparatively higher
Wahab et al. [92] SVM - It considers the dynamic nature of the surrounding environment
- The assumption of cluster-head to be a trusted third party and dependence on a semi-honest
adversary model
Peer-to-Peer Netw. Appl.
Peer-to-Peer Netw. Appl.
the dropping of data packets, false requests for resources,
DDos attack, etc. Misbehavior in communication can
result in reduced PDR, low throughput, End-to-End Delay
(EED), etc. The various progressive works on misbehavior
detection in VANET system are discussed as follows.
Using k-means clustering and classification algorithms,
data obtained from vehicular node helps to predict the
behavior of the surrounding nodes. Therefore, each node
can decide as in which manner to interact with other nodes
[94]. In VANET, the SQL injection attack is crucial as
every vehicular node is connected to surrounding nodes,
disturbing the entire network. For these, Long Short-Term
Memory (LSTM) based SQL injection attack detection
method is proposed [95]. Instability of the vehicular
network increases network overhead when message copies
are transmitted using the DTN algorithm. Machine learning
can be applied to discriminate malicious intermediate node
to increase data delivery [96].
The performance of networks and corresponding applica-
tions are severely affected due to misbehavioral information
in VANET. To detect this misbehavior data, Ghaleb et al.
[87] used the feedforward and the backpropagation ANN
classification algorithm. The model consists of four phases:
1. data acquisition 2. data sharing 3. feature deriving 4.
model construction. The set of features that represent mis-
behavior communication is obtained so that the trained
classifier predicts a message’s status. The model showed a
high detection rate of 99.06% along with the accuracy of
99.74%.
Since the traffic flow of VANET yields temporal features,
spatial and spatiotemporal features, Nie et al. [82] developed
a method that uses CNN to extract some of the most
significant features. The model then estimates the network
traffic using the extracted features. A threshold-based
approach tests the detection of the anomaly. The results
showed that the accepted method could successfully predict
network traffic and identify the defects. It has a true positive
rate of 0.9.
Shams et al. [86] proposed Trust-Aware Support Vec-
tor Machine (SVM) based Intrusion Detection System(TS-
IDS). The proposed approach uses the modified promis-
cuous mode with SVM to construct a precise trust value
table (TVT) for intrusion detection and its prevention in
VANET. In this method, in the packet forwarding route,
every vehicular mobile node is allowed to examine the next
hop to detect any malicious or defective hop that affects
the packet routing system’s performance. The examples of
a malicious or defective system are the intentional drop-
ping of a packet, not receiving the packet, and delaying the
packet forwarding. These malicious acts affect the EED and
PDR. This work emphasizes the improvement of the perfor-
mance of the system and compares its performance with the
system without any defense mechanisms. The Trust Value
Table (TVT) successfully differentiates the genuine vehic-
ular nodes from the malicious one and gives more priority
to the former than the latter. The value of precision, recall,
and F-score is higher than 93.89%, 88.62%, and 91.18%,
respectively, for the proposed model.
ML-based Intrusion Detection System (IDS) with SVM
is one of the approaches for curbing malicious attacks.
Sharma et al. [85] proposed a Multi-cluster head IDS
approach to detect malicious nodes. As per this approach,
firstly, a cluster of the vehicle is formed, and a cluster
head is assigned. Then the optimized SVM algorithm is
deployed on cluster head to detect malicious nodes from the
respective cluster. After removing malicious nodes from the
cluster, other cluster heads are selected using Hybrid Fuzzy
Multi-Criteria Decision Making (HF-MCDM) technique.
For the proposed model, Average Detection rate, Average
False Positive rate, and Average Detection time found to
be 99%, 0.87%, and 44ms, respectively. Unlike mentioned
in [86], where every next hop is examined, here clusters of
vehicular nodes are formed from which the malicious node
is detected.
Wahab et al. [92] proposed a cluster-based intelligent
detection model known as CEAP (Collection, Exchange,
Analysis, and Propagation) that employs the SVM tech-
nique in the system of the VANET to classify the vehicles
into malicious or cooperative. This model has three types of
nodes multi-points relay (MPR), cluster-head, and a com-
mon node. It consists of four phases of operation on data
- collection, exchange, analysis, and propagation. In the
data collection phase, data collected at MPR is compared
by a watchdog. If the number of packets to be forwarded
is higher than the number of packets forwarded, then that
MPR is marked as “malicious” else, it is marked as “coop-
erative.” In the data exchange phase, collected data is shared
between watchdogs. For the classification of MPRs, SVM
is used in the data analysis phase. Here the training and
test set represent the observations of the watchdogs. Dur-
ing the data propagation phase, a large number of vehicles
are informed of the classification of MPR nodes. Gaus-
sian Radial Basis Function kernel adapts best to this model,
among other SVM based kernel functions. The accuracy
of the model is higher than 98%. Overall it turns out that
in all the approaches mentioned above, SVM algorithm
is best suited for misbehavior detection in the VANET
system.
3.3 Link management
Link management refers to the connection management
among vehicular nodes and RSUs. Link connection time
with the neighboring nodes helps in the routing of the data
accordingly. This link management helps to analyze the
trustworthiness of the node for further data transmission.

Various methodologies for link management are discussed
here.
Vehicular networks are not stable due to frequent changes
in the connected RSUs and the constant moving of the
vehicles. So it isn’t straightforward to know in advance
the connection duration between two vehicular nodes. For
clustering and data dissemination, link duration between
vehicles is an important parameter. Zhang et al. [88]
proposed the AdaBoost algorithm to predict link duration,
which applies to various traffic scenarios without making
any assumptions related to velocity. It combines link metrics
like distance, a difference in speeds, and link lifetime.
AdaBoost algorithm turned out to be better than linear
regression and SVM for link duration prediction. The model
was evaluated with different matrices, and the results ranges
were: MAE - 24 to 34, MRE - 0.64 to 0.86, RMSE - 36
to 48, and the Pearson Correlation coefficient - 0.61 to
0.87. [88] focuses on the prediction of the link duration
among vehicles, while [77] estimates the reception of the
transmission. However, both works on the SVM technique
to get reliable results.
In VANET, communication occurs continuously between
vehicles and RSUs, so it is essential to get the positive
acknowledgement for the data transmitted. Sangare et al.
[77] applied the SVM technique to estimate the probability
of successful reception using the transmission rate and
distance between the vehicle. This technique can be used
to optimize the throughput of VANET. Also, the data
transmission rate ranges from 12 to 16 Mbits/s.
The work [80] focuses on detecting the distance between
two vehicles. The work uses deep learning methods for esti-
mating the distance between two vehicles equipped with
Dedicated Short-Range Communications (DSRC). The data
is gathered from diverse environments. Using Deep CNN
with non-positional parameters like signal strength, the
distance range is estimated, and this helps not only for
communication but also for safety and traffic management
purposes. The data have significant variability. Construction
and training of CNN are performed using the hyperparam-
eter obtained from these data. The performance of the NN
model was compared with the Ordinary Least Square (OLS)
regression. Results showed that for shorter distances, the
performance of the NN model and OLS regression are sim-
ilar. In contrast, for more considerable distances, the NN
model is better than the OLS regression. Thus, this ML
method plausibly estimates the distance between two differ-
ent DSRC enabled vehicular nodes, which can help to avoid
potential interruption in communication.
According to Qi et al. [74], the computational capabilities
of the vehicles are limited, so edge computing provides
different resources for advanced vehicular networks. The
author has proposed a knowledge-driven offloading frame-
work with a deep reinforcement learning-based model to
Peer-to-Peer Netw. Appl.
focus on long-term optimal service offloading policy. Here
offloading refers to the termination of the services. This
model can be used on online services offloading as the mov-
ing vehicle affects the offloading destination selection. The
model is trained to handle multiple services at edge com-
puting node and after that implied to the vehicular nodes.
It helps the model to adapt environment changes as the
feedback is taken in each running time.
The proposed work [79] aims at integrating networking,
caching, and computing resources of the connected vehicles
to increase the performance of the next-generation vehi-
cles. Since this proposed strategy is considered as a joint
optimization problem which incorporates the gains of net-
working, caching, and computing domains, the resource
allocation holds an important role. The combined frame-
work of three areas leads to increased complexity. So,
to make it less complicated, a novel deep reinforcement
learning approach is proposed. Deep reinforcement learning
facilitates the resource allocation strategy. The entire work
comprehensively demonstrates the effectiveness of combin-
ing deep reinforcement learning and the described domains.
Ye et al. [75] proposed a mechanism for decentralized
resource allocation in Vehicle to Vehicle(V2V) communica-
tion using deep reinforcement learning. In this method, each
V2V link has an autonomous agent that helps determine
the optimal sub-band and transmission power levels without
requiring global information, i.e., having minimum trans-
mission overhead. This method helps to fulfill constraints
in V2V communications to reduce the interference to V2I
communication.
Gao et al. [97] proposed a model to improve the
reliability of the transmission of data amongst different
RSUs or data nodes. They have used Manhattan Mobility
Model for analyzing vehicle movement patterns. The aim
is to provide a hybrid network of wireless and wired
connections for better routing schemes [98]. For the wireless
transmission scheme, they developed a GPSR – wireless
routing scheme. They developed a hybrid VANET routing
scheme that uses a combination of wired and wireless
transmission by using RSUs as supporting infrastructure.
The model performs well in terms of wireless hops(2-6
hops), the time delay(30-60 ms), and packet delivery ratio.
3.4 Routing
Routing refers to finding the optimal path for transmitting
data from source to destination. Routing should be such that
it requires less computing, and data reaches the target in
the desired time limit. Various approaches to determine the
efficient path for communication in the VANET system are
discussed here.
Zhao et al. [90] proposed SVM based routing algorithm
for efficient communication, which is called Greedy
Peer-to-Peer Netw. Appl.
Machine Learning Routing (GMLR). Features used for
training the model are the distance between nodes, moving
direction of nodes, and acceleration of nodes. It was
observed that the packet delivery rate of the proposed
routing algorithm was always higher than conventional
routing methods.
Routing algorithms used in VANET do not consider
their previous experiences of network statuses such as
congestion, misbehavior, and so forth. To resolve this, Tang
et al. [84] developed a deep learning-based technique for
efficient routing. Initially, routers calculate all possible
paths from one node to the other. These paths are recorded
as a 3D path matrix depending on the values like hop
number, distance, and priority. These collected data are
trained using deep CNN for making routing judgment, and
packets are forwarded accordingly [99]. Packet loss rates
and average delays are lower compared to conventional
routing methods. The model has a high learning accuracy
of 98.7%. The author [84] considers the previous network
status while the next process describes the analysis of the
behavior with the neighboring node.
For efficient routing, the selection of appropriate
neighboring vehicular nodes with the stable link is essential.
Roscher et al. [89] applied Machine Learning algorithms
like Multilayer Perceptron (MLP), k-NN, Decision Tree,
and RF classifiers for estimation of the neighboring
node. For these, they used a large dataset of message
exchange samples obtained from simulated traffic in the
detailed Luxembourg SUMO Traffic Scenario. Vehicle
distance, linkage, received power, and heading difference
is considered for identifying the channel’s status. All the
applied algorithms gave almost the same result with less
than 2% of deviation. Compared to the state of the art
method these classification methods increased neighbor
estimation accuracy by up to 43%.
Pal et al. [83] proposes in the work of an analytical
model. The model evaluates the performance of the
clustered VANET. The proposed model focuses on three
critical parameters – Delay, Throughput, and PDR. The
work compares the clustered VANET model’s performance
with the unclustered model to prove it more efficient than
later. Also, the proposed analytical model is validated with
simulation results.
4 Traffic
The idea behind traffic management in the VANET system
is to collect data of various types such as traffic density,
route prediction, traffic congestion by considering vehicles
as mobile nodes. The fundamental point of the Intelligent
Transport System (ITS) has to be two main fields: i)
analysis of the data collected by the mobile nodes and
RSUs and ii) to notify the driver about the traffic details
and preferable routes prior in time. Traffic Management
consists of not only the traffic aspects but also consists of
handling high priority requests from priority nodes, crash
predictions, and lane management. In the VANET system,
there has been an increasing demand for accident detection
and traffic management [100]. For traffic management,
various traffic features can be identified using CNN [101],
which utilizes images as input. k-NN and ANN [102]
can also be used for the estimation of traffic density and
travel time. For the past few decades, there has been an
increment in the number of crashes. One of the reasons for
it is the high speed on a freeway, which leads to severe
congestion and may have several damages [103] [104]
[105]. Reinforcement Learning, Deep Learning [106], and
various other algorithms are useful for optimal decision
making to control traffic signals [107] and dynamic route
planning with real-time traffic predictions [108].
The main focus of traffic is to maintain a constant flow
of vehicles with minimum delay. Various parameters that
can affect this flow are weather conditions, dysfunctional
traffic lights, car accidents, different types of vehicles,
speed of the vehicles, and many more. Also, when the
flow is disturbed, it results in severe traffic congestion.
Traffic is monitored continuously based on the speed of the
moving traffic, and traffic signal detection and scheduling
[109]. Based on all of these aspects, the traffic section is
divided into four subsections, listed as follows: 1. Traffic
Flow 2. Traffic Congestion 3. Traffic Monitoring, 4. Traffic
scheduling.
Various situations related to the traffic that might arise
are shown in Fig. 5. A review of existing work in the area of
traffic management is summarized in Table 7.
4.1 Traffic flow
The traffic flow is affected by various reasons like weather
conditions, uneven traffic distributions, accidents, and
many more reasons. This factor affects the traffic adding
uncertainty to it and also results in difficulty in the data
collected. Various works have been published, which took
factors like weather conditions, past traffic flow, type of
vehicles, speed, traffic volume, and density. Also, works
have been done in the direction of solving traffic uncertainty
and data uncertainty. Above all, works focus solely on
traffic flow forecasting. A lot of work is done towards
increasing the accuracy of the prediction.
Koesdwiady et al. [128] proposed a theory that worked
on data of the San Francisco Bay area of California. The
two main objectives of this work were to investigate the
relationship between weather conditions and traffic flow.
The other was to improve the accuracy to predict the
traffic flow by proposing a novel but practical approach.

Fig. 5 Traffic Management in
VANET
The approach incorporated a Deep Belief Network (DBN)
model applied to the traffic flow and weather conditions.
The data fusion technique was employed to enhance the
accuracy to predict the traffic flow. The proposed model
outperformed the state of art techniques. The work ensures
better traffic flow management strategies. The model is
tested on two metrics, and the results are RMSE – 0.05 and
MAE – 0.075.
The work [115] discusses how DNN demonstrates the
capability of traffic flow prediction. The work proposes
a Deep Neural Networks Based Traffic Flow prediction
(DNN-BTF) model to predict traffic flow efficiently. DNN-
BTF surveys the weekly or daily periodicity in the traffic
flow and inherits the spatial-temporal features of traffic
flow. CNN and Recurrent Neural Network (RNN) are used
to learn the spatial and temporal characteristics of the traffic
flow. An algorithm named attention model is employed to
determine the dependency of the future traffic flow on the
past traffic condition. The proposed work qualitatively and
quantitatively visualizes the DNN-BTF model. It challenges
conventional thinking about Neural Networks of being a
black-box model. The model proposed in this work not only
Peer-to-Peer Netw. Appl.
gives reliable accuracy but also helps in predicting the traffic
flow. The model shows comparatively a lesser MRE value,
at 0.2.
The work proposed by Kumar et al. [131] focuses
on traffic flow prediction on the non-urban highways.
The ANN-based model consolidates traffic volume, time,
density, the day of the week, and speed as the input
variables. Here the speed of different categories of the
vehicle is surveyed individually and also fed as an input to
the model independently. The results show that the proposed
model of ANN accurately estimates the vehicle count even
if the vehicle categories and their respective speed are
counted separately. The model exhibited stable performance
even when the time interval for prediction of the traffic
was increased. Also, the model gave good results even
when the speed of different categories of the vehicles was
considered as different input variables. Thus, the model can
be efficiently applied for traffic flow forecasting on the non-
urban highways. The model was evaluated with different
metrics, and the results were: RMSE – 0.8586 to 2.9178,
MAE – 0.6281 to 1.2786, and Standard Deviation – 0.8573
to 2.8711.
Table 7 Summary of ML in Traffic Management
Article
Liang et al. [110]
Li et al. [111]
Guo et al. [112]
Tomar et al. [113]
Li et al. [114]
Wu et al. [115]
Wang et al. [116]
Kurniawan et al. [117]
Cheng et al. [118]
Munoz et al. [119]
Chen et al. [120]
Jeon et al. [121]
El et al. [122]
Rahimipour et al. [123]
Cheng et al. [124]
Yuan et al. [53]
Raza et al. [125]
Yang et al. [126]
Du et al. [127]
Koesdwiady et al. [128]
Li et al. [129]
Yu et al. [130]
Kumar et al. [131]
ML technique used Performance
Deep Learning - AWT during peak traffic is reduced
- Fluctuations witnessed when iterations count is less than 500
CNN, NLP - Real time scheduling is performed with high accuracy
Peer-to-Peer Netw. Appl.
CNN - The proposed ODTN architecture is completely distributable as well as is able form associations
Logistic Regression - It includes factors like weather condition, road location, day and time of week
Deep Learning, DBN, SVM - Showed better incremental learning capability
CNN, DNN - Analysis of internal mechanisms of DNN leads to high accuracy
- Missing data
Deep Learning - The model is effective to count the crowd number
- Training model is time - consuming
CNN - System is able to provide different applications like feedback and alternative routes
- After a certain number of epochs the decreasing trend of loss gets reversed and starts increasing
k-NN - Able to predict the short term vehicular speed with greater efficiency during the different hours of the day
- Deep Learning Efficiently detects traffic lights, street crossings and urban roundabouts
Deep Learning - Learning ability with no significant errors helped to perform well in high and medium traffic flow conditions
- Not able to perform well in the case of low traffic conditions
CNN - High accuracy
- Long term prediction of interactive manoeuvre leads to reduction in the prediction accuracy.
Fuzzy Deep Learning, ANN - Slow Convergence rate. Problem of settling into local minimum was solved.
Neural Networks - The model is optimized to increase the accuracy of predicting the traffic congestion.
Neuro-Fuzzy - Effective grouping and scheduling according to real time traffic condition
Deep Learning, SVM - Better localization accuracy due to exhaustive analysis of the public datasets
- Over imposition of spatial distribution features on the traffic sign detection
Deep Learning - Ability to capture higher traffic variation and shows lower forecasting errors
- Factors such as road conditions, accidents, weather conditions are not considered
Deep Learning - Effective Performance when the frequency of traffic flow is rising and falling frequently
- During certain time period the performances decreases drastically
ANN - Effective estimation of traffic pattern and resource allocation strategies
- MSE increases due to stacking of more cells after reaching the count of 10
Deep Learning - Implementation requires fewer resources and Weather conditions are considered in the data
Deep Learning - Reduction in average delay, congestion of vehicles, and Queue length.
Neural Networks - Higher accuracy and stable performance is effective to detect traffic congestion scenarios
Deep Learning - Able to count the number of vehicles as per categories
- Night time traffic data, weather conditions, and seasonal variations are not included

Li et al. [114] proposed a work that adopted a deep
code learning technique and tested it on Macao Intelligent
System. The work combined Support Vector Regression
Classifier and DBN Model and used it as the prediction
model. The DBN model is used to analyze the particular
flow of traffic. The model was able to get a high precision
ranging from 90% to 92%.
Chen et al. [120] proposed a Fuzzy Deep Learning
based approach called Fuzzy Deep Convolutional Network
(FDCN) for analyzing and predicting traffic flow. By com-
bining the fuzzy theory and DBN, the FDCN proposes
some fuzzy rules using the learning algorithm. The pro-
posed method relatively solves the problem of uncertainty.
The FDCN approach analyzes the spatial and temporal fea-
tures of the traffic flow data. Several layers and regression
functions were considered for optimizing the given model.
The test results asserted that the suggested model has better
correctness and representation capability than the existing
methodologies. The author evaluated the proposed work on
the Beijing Taxicab Trajectory dataset. The model showed
an accuracy of 80% approximately, and its RMSE value is
0.3336.
The above discussion conveys that, [128], [114], and
[120] worked on DBN based solution for traffic flow
prediction, using the San Francisco Dataset, Macao
Intelligent System, and Beijing Taxicab dataset respectively.
[131] also included the speed as an extra parameter based
on the vehicle’s category for making predictions. Yang
et al. [126] proposed a Neural Network based Stacked
Autoencoder Levenberg-Marquardt model for traffic flow
forecasting. The features affecting traffic flow are extracted
through layer by layer feature granulation. The accuracy of
the model was computed to approximately 90%, and the
percentage error was near to 0%.
4.2 Traffic congestion
The mismanagement and disturbance in traffic flow lead
to traffic congestion. Various information that can be taken
into consideration to solve this problem is images from
CCTV footage [117], pedestrian speed, vehicle speed,
motorbike speed [130], road occupancy rate, and many
more. Also, due to abnormal and heavy traffic flow [111],
V2I communication is adversely affected. Real-time traffic
congestion can be obtained by finding sensitive spots
employing clustering algorithms and then applying the
neural network to predict the short-term traffic [132].
Past progressive works that are focused on solving such
problems are presented in the following paragraphs.
For traffic congestion prediction, Yu et al. [130]
proposed specific parameters such as pedestrian speed, road
occupancy rate, and vehicle speed, which combined with the
Markov model and BPNN model. The accuracy fluctuated
Peer-to-Peer Netw. Appl.
in the range of 90% to 96%. Kurniawan et al. [117] proposed
a CNN model to detect traffic congestion using images
obtained from CCTV cameras. Images were trained after
resizing and converting them into 100×100 grayscale. For
training of the CNN model, Adam optimization was used
with a batch size of 250 and 100 epoch. Higher and lower
accuracy obtained using this model are 93% and 82%, with
an average of 89.5% (±3.67%).
In this paper, Wang et al. [116] proposed a robust
hierarchical Deep Learning for congestion detection in
complex traffic situations. For hierarchical semantic feature
extraction, a deep network is designed. All the features
from mid-level to low-level are combined in the network.
Robust metric learning is used as a loss function to train this
network effectively. Multiple deep networks are grouped to
improve generalization ability. The values for average MSE
and average MAE for the proposed model are 120.1 and
67.5 respectively.
V2I communication provides external information to
vehicles. Still, due to imbalanced vehicle distribution
because of temporal dynamics, Li et al. [111] proposed a
load balancing technique for efficient coordination among
the Mobile Edge Servers (MESs). In this method, the cached
data generated is scheduled to MESs based on road traffic
situation prediction. The author has used a deep CNN
for learning from the spatiotemporal features to predict
the traffic situation. Then, the load balancing problem is
expressed as a Natural Language Processing(NLP) problem,
and a novel framework in CNN is adopted for NLP
optimization. After that, the author combined these two
neural networks to optimize performance.
4.3 Traffic scheduling
Traffic scheduling refers to traffic scheduling and grouping
[124], traffic signal scheduling, traffic speed scheduling
[125], and route prediction [113]. Traffic signal duration can
be made adaptive during different traffic situations such as
a regular flow or a complex and imbalanced flow. Various
works have been done to solve such issues of scheduling and
provide the best optimal solution.
In a smart transportation system, efficient and flexible
traffic scheduling is a must. Cheng et al. [124] proposed
vehicle grouping for traffic scheduling instead of traffic
lights management. For scheduling and grouping, fuzzy
logic is employed, which is trained by reinforcement learn-
ing technique. Results show that Fuzzy Group Learning
reduces the Average Waiting Time (AWT)(in Seconds) and
Waiting Time Variance(WTV) compared to traffic light
algorithms. The AWT value varies between 45s and 62s, and
WTV value varies between 31s and 38s.
To implicitly model the change of system states and
the control actions for appropriate signal timing policies,
Peer-to-Peer Netw. Appl.
DNN is beneficial. Li et al. [129] proposed a four-
layered architecture SAE (stacked autoencoders) neural
network with two hidden layers and 54 neurons to
demonstrate deep reinforcement learning for signal timing.
Using DNN, the average delay can be minimized by
14% compared to conventional methods. The model was
able to reduce the average delay to 14%. Cheng et al.
[118], proposed a model of adaptive spatiotemporal k-
NN for short-term vehicle speed prediction. The proposed
model considers spatial heterogeneity and determines
different traffic patterns using different aspects like adaptive
Spatio-temporal parameters, Spatio-temporal weights, time
windows, and spatial neighbors. For particular road
segments, autocorrelation investigation is done to determine
the time window for the traffic data, and cross-correlation
investigation is done to determine the spatiotemporal
dependencies of traffic. Next, these spatiotemporal weights
are applied to the Gaussian Weight function to improve the
performance of models. Using the data available from the
data sets gathered from the expressways in California and
city roads of Beijing, the author evaluated the proposed
STKNN model. The proposed model is evaluated against
multiple methods to validate its performance. The results
proved that the proposed model is more efficient than the
conventional k-NN models applied for short-term vehicle
prediction. The MAPE of the model is 10%, which is
significantly less.
The estimation of traffic speed is an integral part of
traffic forecasting. Raza et al. [125] used the ANN model
and Locally Weighted Regression (LWR) model along
with Genetic Algorithms (GAs) for optimizing input data
to make traffic speed predictions. This GA-LWR model
predicts traffic speed for the short term in four lanes. They
also proposed a framework for hybrid multilayer perceptron
(MLP) neural network and LWR model for traffic speed
estimation. An average error of the model varies from 1%
to 9%.
While [129] focuses on reducing the average delay on
traffic signal timing by using DNN as an ML algorithm,
the [110] also focuses on solving the problem of average
delay. But the work involves a relatively more complex
architecture having reinforcement layers, convolutional
layers, and a different scheme for the decision-making
process. Witnessing the problems such as the fuel wastage
and long delays incurred due to inefficient traffic light
control, the work [110] proposed a new model that deals
with real-time traffic information. In this work, a study
based on the collected data from vehicular networks and
different sensors improves traffic signals’ duration. The
suggested work uses Deep Reinforcement Learning to
control the traffic light cycles. The idea was to emulate a
skilled operator to control the traffic lights’ duration, and
such a scheme was accomplished using Markov Decision
Process. The entire intersection is partitioned into small
grids and, accordingly, quantifies complex traffic scenarios.
These traffic scenarios are the states. A CNN model is
suggested to obtain the desired rewards and match the states.
The rewards are defined as the change of the cumulative
waiting time between two adjacent cycles. Less average
delay implied that the rewards are in a negative value.
Additionally, due to the dynamic change in Traffic flow,
the environment becomes unstable and unpredictable. To
overcome this problem, the work combines a specific state
of the art technology such as dealing network, prioritized
experience replay, target network, and double Q- learning
network. The work aims to solve the problem of average
delay, and to model the traffic lights’ cycle has been
successful to a great extent. The model was able to estimate
the AWT to 26s in 1200 iterations.
Rahimipour et al. [123] proposes Neural Network based
model for traffic prediction. It is essential to have a specific
combination of parameters for different traffic behaviors.
In the proposed model, neurons are optimized using a non-
dominated sorting genetic algorithm. Traffic prediction is
made as follows 1) parameters are optimized using NSGA-
2. 2) Neural Network is then executed to calculate errors.
3) Once optimization is completed, weights of the NN are
generated. 4) Finally, the speed of traffic is predicted. The
R-square value of the model is 0.98.
Yuan et al. [53] suggested an approach that combined
three aspects in a framework – traffic sign detection, track-
ing, and recognition – using the video-based recording for
the three. The contributions are threefold: (a) Enhancement
in performance detection using contextual data of spatial
distribution prior knowledge, (b) To improve tracking per-
formance by proposing a framework that uses an offline and
online detector to update the existing data, and (c) Scale
based fusion algorithm is proposed to obtain a precise and
stable output. The author tested the proposed framework on
various public datasets, and the author has proved its credi-
bility through multiple empirical studies. The model gave a
detection rate of 98.29% and a classification rate of 97.78%.
The problem of traffic congestion is a serious concern of any
country. Traffic congestion is the result of a considerable
accumulation of cars in one place. Still, traffic congestion
can also happen due to factors such as road location, dis-
tance, a day of the week, time, and weather. The main
problem in Traffic congestion is fuel wastage, time con-
sumption, and frustration among drivers. A framework is
required to compute the best path that minimizes pollution,
delay, and energy consumption [133]. The proposed work
[113] by the author is a combination of Logistic Regres-
sion and Fuzzy Logic to make a smart decision to select the
best path. There can be an endless number of paths to a sin-
gle destination. The Logistic Regression model incorporates
all these paths by deriving all the possible routes from the

Google Maps and user familiar inputs of the road condition
on the selected routes. Based on all these parameters, the
probability of all the routes is calculated. Fuzzy Logic here
is consolidated to decide the best path. Fuzzy Logic incor-
porates five main parameters - Time, Weather Condition,
Day of Week, Road Condition, and Probability. Accord-
ingly, Fuzzy Sets of individual parameters excluding the
probability are formed, having its own set of nested param-
eters. Combining the Logistic Regression Model and Fuzzy
Logic, the proposed work helps to find the best efficient
route.
Kuang et al. [134] developed a deep-learning-based
prediction model to solve the problem of taxi demand for
drop-off and pick-up services. The model was examined on
real taxi demand data, and the outcome showed the RMSE
value, which is 3.33, which is approximately 5.93 to 37.29
percent lower RMSE value compared to other models. At
level one, they have extracted spatiotemporal features which
are being obtained by 3D CNN and MTL. At level two, they
identified the correlation between drop-off and pick-up by
a combination of 3D ResNet and attention-based LSTM. At
last, they combined the external factors to make an accurate
prediction.
4.4 Traffic monitoring
Traffic Monitoring is necessary while in condition to avoid
future disturbance in traffic flow by constant monitoring and
scheduling [121] of individual elements. These elements
can be given as road and infrastructural factors [119]. The
various work involving the use of such elements have been
reviewed in the following paragraph.
Traffic Incident Detection (TID) is a very complicated
process and has many non-linear characteristics. The author
[122] proposes a new fuzzy deep learning-based TID
method. The proposed method considers the spatial and
temporal features of the traffic flow potentially. Stacked
Auto-Encoder (SAE) model initializes the Deep Learning
network’s parameters, which is then followed by layer to
layer pre-training procedures. The model also comprises
of the backpropagation algorithm that precisely tunes the
parameters in the Deep Learning network. Fuzzy logic
is implemented to facilitate the reduction of overpassing
during the learning process, to increase the convergence
speed, and to reduce the error. Different validation sets
were used to test the proposed architecture. The author
evaluated the performance on various parameters such as
Classification rate, Training Time, False Alarm Rate, and
Detection Rate. The results authenticate the competence
and certainty of the proposed work. The detection rate and
classification rate were computed as 98.23% and 91.475%
respectively.
Peer-to-Peer Netw. Appl.
Munoz et al. [119] proposed a work to detect road and
infrastructural elements automatically using GPS sensor-
based data. Three main road elements are street crossing,
traffic lights, and roundabouts. The entire work is evaluated
considering two different types of datasets. The first
dataset includes the data of a single driver on several
drives following similar circuits. While the second data
set includes ten different drivers following a circuit. The
proposed work combines two different algorithms: the novel
outlier detection algorithm and the DBN combination with
an output classifier. For detecting the driving locations,
outlier detection is used. The acceleration patterns are
detected at every driving location using Deep Learning,
which then helps in further classification into the street
crossing, traffic lights, and round abouts. The classification
is done using Machine Learning algorithms such as k-
NN and SVM. The results are improved by analyzing the
number of times a particular location is preselected in the
outlier detection in a similar drive and feeding it to the
output model of the DBN and classifier algorithm, and the
model yields a precision of 0.93.
The prediction of future motions of the surrounding
vehicles becomes complicated in the traffic situation
where several adverse circumstances such as lane merge,
unsignalized interactions, and tollgate arise. The proposed
work [121] presents a new model that describes the entire
traffic scene. A method named multi-channel occupancy
map (OGM) for scene representation is suggested, which
represents the whole traffic scenes. The scenes are the
views that were taken from a bird’s eye. That depicts the
occupancy of static and dynamic objects in the form of
dynamic and static layers. With this view, a simple video-
based approach can be used to predict the future traffic scene
based on a serial-time image sequence. Further, a Deep Learn-
ing model is proposed, a combination of CNN and LSTM
Networks, to predict future traffic scenarios based on past
traffic conditions. CNN is used to take out the inherent
characteristics of various interaction pairs, and LSTM
based network is used for time-serial image sequence-based
future predictions. Thus, the primary aim of the work was
to create a model that would interactively predict future
traffic scenarios. The model gave an accuracy of 90%.
Dynamic Resource is one of the limitations prevailing in
V2V communication. To solve the problem and predict 24-
hour traffic data, this paper [127] proposes a Long Short
Term Memory(LSTM) based regression model. The work
proceeds in the following order: (1) The 24-hour traffic
data is collected online and labeled. (2) For implementing
Regression, Stacked LSTM is constructed. (3) The proposed
regression model is compared with the logistic regression
model. (4) Finally, based on the proposed work, potential
resource allocation patterns are determined. The traffic data
Peer-to-Peer Netw. Appl.
Fig. 6 Research Trend in
Various Sub-disciplines of
VANET
is collected from some districts of Texas. The data collected
covered a wide range of data that exhibited many different
situations on the road during the span of various periods of
the day. This model can evaluate the patterns and volume of
traffic efficiently, leading to an adequate evaluation of the
resource allocation strategy. The model was tested using the
mean square error. The value was computed as 1.8.
While [122] has taken into consideration the spatiotem-
poral features of traffic flow, [112] focuses on the objects
of the traffic flow and their connectivity. The author Guo
et al. [112] has developed a technique to detect objects and
associations simultaneously in connected vehicles. They
have proposed a method called One-pass Deep Twin Neu-
ral(ODTN) Network for dynamic object detection. This
method reuses the features deeply learned in the discovery
of a subnet in the association process. The ODTN method
is a conventional neural network that consists of two parts i)
First, detection cascaded deep detection subnet is used, and
Fig. 7 Usage Statistics of ML
Techniques in VANET
ii) also, for an association, twin structured association sub-
net is used. The accuracy of the model ranges from 87% to
95%.
5 Discussion and future directions
Several research types have been done in various sub-
disciplines of VANET, which are shown in Fig. 6. It
highlights the percentage of statistics of research being
carried under different sub-domains of VANET. It is
observed that the research works mainly focuses on traffic
control and congestion reduction among vehicular nodes,
while link management, traveler safety, and security are not
being explored much.
Figure 7 highlights the percentage-wise use of various
Machine Learning algorithms in the VANET. According
to the above-reviewed research work, SVM and Deep

Learning are the most frequently used algorithms. These
methods proved to be favorable for most of the applications
in VANET. It is not necessary for any specific application;
only a particular algorithm can be used. By practicing
the implementation of different algorithms, one can figure
out which techniques to be used for what applications.
Various type of features helps in determining the appropriate
Machine Learning algorithm to use for specific application
VANET.
Future directions for various areas of VANET are
discussed below:
– Safety: In the context of safety, driver drowsiness,
driving skills, collision prediction, object detection,
accident risk prediction, and lane detection are the areas
in which major recent works are being carried out. The
challenge here is to augment the additional weather
forecast, Spatio-temporal, and road condition data to
the existing data set. Second, to perform error analysis
using ML on such a large scale data set for better
prediction. Future work advocates towards finding the
safe, optimal path for autonomous vehicles in smart
drive vehicular network.
– Communication: Here, channel congestion, malicious
node detection, V2X link duration, packet routing
are the significant areas of interest. Future directions
emphasize on improving the scalability and compu-
tational complexity of the routing mechanism. The
challenge here is to include the propagation model,
channel noise, and other physical layer properties in
the existing models. The model should be extended so
that the malicious nodes are classified based on types
of attacks. Also, a feedback mechanism must be devel-
oped to analyze acknowledgment the priority messages
being scheduled for the potential vehicular node.
– Traffic: In the traffic domain, the challenge is to include
complex scenarios of multiple intersections and to form
a virtual network to improve short-term and long-term
traffic predictions in ITS. The future work is directed
towards the integration of features like traffic signs and
GPS information. It will increase efficiency in traffic
congestion detection and traffic flow prediction. Also,
traffic analysis based on the mode of transportation
needs to be emphasized.
– Advanced Driver Assistance Systems (ADAS):
ADAS is the in-vehicle technologies that aggregate
information from various sensors [135] connected to
the Electronic Control Unit (ECU) in the vehicle. The
ECU is an embedded system in an automobile that mon-
itors and receives feedback about working all the parts.
Also, the ADAS can be equipped with stereo vision
camera sensors and laser scanners [136]. These sensors
Peer-to-Peer Netw. Appl.
can help the system to understand the surrounding envi-
ronment having obstacles (vehicles, pedestrians, and so
on). The sequence of frames and cluster points obtained
from camera sensors and laser scanners can be cali-
brated to automate the vehicle operations effectively.
The traditional ADAS are threshold-based and may
wrongly anticipate the drivers’ judgment/response. The
machine learning-based ADAS use the data generated
by the in-vehicle sensors to generate more accurate
driver-specific responses. ADAS can govern the driver’s
judgment of the lane change by augmenting the data
from various onboard sensors with the vehicle’s sur-
rounding environment. It can assist in determining the
driver’s intent of lane change. The system can also help
the driver maintain the vehicle’s movement at the center
of the lane [137] to avoid a possible collision with vehi-
cles under blind-spots. ADAS can also be integrated
with the traffic estimation and optimal route planning
applications that can help the driver prevent the conges-
tion points and select the route, thus optimizing the time
and energy spent on the commute.
6 Case study
With the increase in the number of vehicles, speeding,
drunk driving, jumping of red light, and insincerity in
drivers might lead to accidents, which is the major problem
in the metro cities at the current time. It affects not
only the vehicles involved in accidents but also to the
surrounding nearby vehicles, which ultimately results in
injuries, severe damage to vehicles and surroundings, and
traffic congestion. This situation can be improved by
applying ML algorithms. To reduce the severity of such
incidents, it is necessary to inform approaching vehicles
of the prevailing conditions ahead of it. Also, the existing
traffic congestion due to the accident has to be resolved with
the help of efficient traffic management.
RSUs collects the pieces of information such as traffic
density, traffic flow, and vehicle information from the
surrounding. Applying Machine Learning algorithms like
SVM, k-NN, Decision Tree, and RF on these collected data
helps detect and predict accidents. Also, based on the dense
vehicular clusters, algorithms such as k-NN can be used to
identify traffic congestion, and this expected information
is forwarded to the concerned vehicular nodes and RSUs.
For this, Communication of V2V and V2I is the critical
factor to resolve it. The severity of such incidents is different
for different vehicles approaching the accidental zone; that
is, vehicles at a shorter distance need to be communicated
with safety-related information while vehicles at a more
considerable distance might need to be assisted with
Peer-to-Peer Netw. Appl.
alternate routes. Different message routing schemes need to
be adopted at vehicular and infrastructure levels to make
these communications possible. Machine Learning can help
in these routing schemes by selecting the best hop, which
can be used to transfer the messages. Moreover, the Machine
Learning algorithm such as k-means Clustering can be used
in choosing the best optimal and efficient path consisting of
only those nodes that will successfully forward the message.
Figure 8 depicts how various disciplines of VANET works
cohesively.
For these purposes, RSUs may treat small groups of
vehicular nodes as a dynamic, interconnected network
of vehicles through which the concerned message is
transferred at the destination node. Once the route
for message transmission is selected, link management
among components of VANET is crucial for successful
communication. For this link management, vehicular
nodes may apply algorithms such as SVM or ANN
to predict the link’s trustworthiness based on packet
drop ratio, throughput, and bandwidth consumption of
the corresponding node. This ML assisted system will
eventually help the concerned vehicles according to the
current scenario and, thus, provides safety.
Fig. 8 Process Flow of VANET-based Applications
7 Conclusion
In this paper, we provide insights into how Machine
Learning techniques can be incorporated for efficient
working of VANET. The survey is inspected based
on different perspectives like safety, communication,
and traffic. We have discussed in detail regarding the
convergence of Machine Learning in VANET. Machine
Learning convergence with VANET is analyzed based on
year-wise improvements and advancements in vehicular
networks. We have explored various applications of the
vehicular network such as Driver Assistance, Collision
Alert, Misbehavior Detection, Routing, Traffic Monitoring,
and Data Control of different perspectives, where Machine
Learning concepts can be exploited. It turns out that
neural network-related approaches are widely used in
traffic management applications. For classification, SVM
is more famous for a wide range of applications, from
misbehavior detection to collision detection. Also, k-NN
and deep learning accurately assist vehicles for collision
avoidance. Above findings show that there is ample scope
for assessing machine learning in VANET due to its
remarkable performance in various AI related areas. Finally,

we have discussed future direction along with some open
challenges and pointed out areas that require more attention.
References
1. Banerjee S, Odelu V, Das AK, Chattopadhyay S, Kumar N,
Park Y, Tanwar S (2018) Design of an anonymity-preserving
group formation based authentication protocol in global mobility
networks. IEEE Access 6:20673–20693. https://doi.org/10.1109/
ACCESS.2018.2827027
2. Muhammad M, Safdar GA (2018) Survey on existing authenti-
cation issues for cellular-assisted v2x communication. Vehicular
Communications 12:50–65
3. Bhatia J, Modi Y, Tanwar S, Bhavsar M Software defined
vehicular networks: A comprehensive review. Int J Commun Syst
32(12):e4005
4. Duan X, Liu Y, Wang X (2017) Sdn enabled 5g-vanet: Adaptive
vehicle clustering and beamformed transmission for aggregated
traffic. IEEE Commun Mag 55(7):120–127
5. Bhatia J, Govani R, Bhavsar M (2018) Software defined
networking: From theory to practice. In: 2018 Fifth International
Conference on Parallel, Distributed and Grid Computing
(PDGC), pp 789–794, IEEE
6. Sheikh MS, Liang J (2019) A comprehensive survey on
vanet security services in traffic management system. Wirel
Commun Mob Comput, 2019 2019:23. https://doi.org/10.1155/
2019/2423915
7. Gupta R, Tanwar S, Kumar N, Tyagi S (2020) Blockchain-based
security attack resilience schemes for autonomous vehicles
in industry 4.0: A systematic review. Comput Electr Eng
86:106717. https://doi.org/10.1016/j.compeleceng.2020.106717.
http://www.sciencedirect.com/science/article/pii/
S0045790620305723
8. Park H, Haghani A, Samuel S, Knodler MA (2018) Real-time
prediction and avoidance of secondary crashes under unexpected
traffic congestion. Accident Analysis & Prevention 112:39–49
9. Tanwar S, Tyagi S, Kumar S (2018) The role of internet of things
and smart grid for the development of a smart city. In: Intelligent
Communication and Computational Technologies, Springer,
pp 23–33
10. Mistry I, Tanwar S, Tyagi S, Kumar N (2020) Blockchain for
5g-enabled iot for industrial automation: A systematic review,
solutions, and challenges. Mech Syst Signal Process 135:106382.
https://doi.org/10.1016/j.ymssp.2019.106382. http://www.
sciencedirect.com/science/article/pii/S088832701930603X
11. Bhatia JB (2015) A dynamic model for load balancing in cloud
infrastructure. Nirma University Journal of Engineering and
Technology (NUJET) 4(1):15
12. Astarita V, Festa DC, Giofrè VP (2018) Mobile systems applied
to traffic management and safety: a state of the art. Procedia
computer science 134:407–414
13. Ashishdeep A, Bhatia J, Varma K (2016) Software process
models for mobile application development: A review. Computer
Science and Electronic Journal 7(1):150–153
14. Bhatia J, Mehta R, Bhavsar M (2018) Variants of software
defined network (sdn) based load balancing in cloud computing:
A quick review. In: Future Internet Technologies and Trends,
pp 164–173, Cham, Springer International Publishing
15. Abdel-Halim IT, Fahmy HMA (2018) Prediction-based pro-
tocols for vehicular ad hoc networks: Survey and taxonomy.
Comput Netw 130:34–50
16. Gupta R, Tanwar S, Tyagi S, Kumar N (2020) Machine learn-
ing models for secure data analytics: A taxonomy and threat
Peer-to-Peer Netw. Appl.
model. Comput Commun 153:406–440. https://doi.org/10.1016/
j.comcom.2020.02.008. http://www.sciencedirect.com/science/
article/pii/S0140366419318493
17. Thakkar P, Varma K, Ukani V, Mankad S, Tanwar S (2019)
Combining user-based and item-based collaborative filtering
using machine learning. In: Satapathy SC, Joshi A (eds)
Information and Communication Technology for Intelligent
Systems, pp 173–180, Singapore, Springer Singapore
18. Li W, Zhang F, Zhang Y, Feng Z (2019) Adaptive sample weight
for machine learning computer vision algorithms in v2x systems.
IEEE Access 7:4676–4687
19. Gupta R, Tanwar S, Tyagi S, Kumar N (2019) Tactile internet
and its applications in 5g era: A comprehensive review. Int J
Commun Syst 32(14):e3981. https://doi.org/10.1002/dac.3981.
https://onlinelibrary.wiley.com/doi/pdf/10.1002/dac.3981,
https://onlinelibrary.wiley.com/doi/abs/10.1002/dac.3981, e3981
dac.3981
20. Sim GH, Klos S, Asadi A, Klein A, Hollick M (2018)
An online context-aware machine learning algorithm for
5g mmwave vehicular communications. IEEE/ACM Trans
Networking 26(6):2487–2500
21. Kumar N, Misra S, Rodrigues JoelJPC, Obaidat MS (2015)
Coalition games for spatio-temporal big data in internet of
vehicles environment: A comparative analysis. IEEE Internet
Things J. 2(4):310–320
22. Kumar N, Iqbal R, Misra S, Rodrigues JoelJPC (2015) Bayesian
coalition game for contention-aware reliable data forwarding
in vehicular mobile cloud. Futur Gener Comput Syst 48:60–
72
23. Kumar N, Rodrigues JoelJPC, Chilamkurti N (2014) Bayesian
coalition game as-a-service for content distribution in internet of
vehicles. IEEE Internet Things J. 1(6):544–555
24. Iqbal R, Doctor F, More B, Mahmud S, Yousuf U (2018)
Big data analytics : Computational intelligence techniques and
application areas. / Iqbal, Rahat; Doctor, Faiyaz; More, Brian;
Mahmud, Shahid; Yousuf, Usman. In: Technological Forecasting
and Social Change, Vol. 153, 119253, 04.2020.
25. Liang L, Ye H, Li GY (2019) Toward intelligent vehicular
networks: A machine learning framework. IEEE Internet Things
J. 6(1):124–135
26. Kibria MG, Nguyen K, Villardi GP, Zhao O, Ishizu K, Kojima
F (2018) Big data analytics, machine learning, and artificial
intelligence in next-generation wireless networks. IEEE Access
6:32328–32338
27. Tanwar S, Vora J, Tyagi S, Kumar N, Obaidat MS (2018) A
systematic review on security issues in vehicular ad hoc network.
Security and Privacy 1(5):e39. https://doi.org/10.1002/spy2.39.
https://onlinelibrary.wiley.com/doi/pdf/10.1002/spy2.39, https://
onlinelibrary.wiley.com/doi/abs/10.1002/spy2.39
28. Hossain MA, Noor RM, Yau K-LA, Azzuhri SR, Z’aba MR,
Ahmedy I (2020) Comprehensive survey of machine learning
approaches in cognitive radio-based vehicular ad hoc networks.
IEEE Access 8:78054–78108
29. Fotros M, Rezazadeh J, Sianaki OA (2020) A survey on
vanets routing protocols for iot intelligent transportation systems.
In: Workshops of the International Conference on Advanced
Information Networking and Applications, pp 1097–1115,
Springer
30. Alrehan AM, Alhaidari FA (2019) Machine learning techniques
to detect ddos attacks on vanet system: A survey. In: 2019
2nd International Conference on Computer Applications &
Information Security (ICCAIS), pp 1–6, IEEE
31. Tong W, Hussain A, Bo WX, Maharjan S (2019) Artificial
intelligence for vehicle-to-everything: A survey. IEEE Access
7:10823–10843
Peer-to-Peer Netw. Appl.
32. Ditcharoen A, Chhour B, Traikunwaranon T, Aphivongpanya
N, Maneerat K, Ammarapala V (2018) Road traffic accidents
severity factors: A review paper. In: 2018 5th International
Conference on Business and Industrial Research (ICBIR),
pp 339–343, IEEE
33. Suhas S, Kalyan VV, Katti M, Prakash BVAjay, Naveena C
(2017) A comprehensive review on traffic prediction for intel-
ligent transport system. In: 2017 International Conference on
Recent Advances in Electronics and Communication Technology
(ICRAECT), pp 138–143, IEEE
34. Kavitha N, Chandrappa DN (2017) Comparative review on video
based vehicular traffic data collection for intelligent transport
system. In: 2017 International Conference on Recent Advances
in Electronics and Communication Technology (ICRAECT),
pp 260–264, IEEE
35. Jensen MB, Philipsen MP, Møgelmose A, Moeslund TB, Trivedi
MM (2016) Vision for looking at traffic lights: Issues, survey,
and perspectives. IEEE Trans Intell Transp Syst 17(7):1800–
1815
36. Barros J, Araujo M, Rossetti RosaldoJF (2015) Short-term
real-time traffic prediction methods: a survey. In: Mod-
els and Technologies for Intelligent Transportation Systems
(MT-ITS), 2015 International Conference on, pp 132–139,
IEEE
37. Glebe road its improvement. https://projects.arlingtonva.us/
projects/intelligent-transportation-systems/, Accessed: 24-03-
2019
38. Tampa pilot. https://www.its.dot.gov/pilots/pilots thea.htm/,
Accessed: 24-03-2019
39. New york city dot pilot. https://www.its.dot.gov/pilots/pilots
nycdot.htm/, Accessed: 24-03-2019
40. Hamburg electric autonomous transportation. https://www.
hamburg.de/pressearchiv-fhh/10120472/2017-12-20-bwvi-
projekt-heat/, Accessed: 24-03-2019
41. Cooperative its for mobility in european cities. https://
cordis.europa.eu/project/rcn/196891/factsheet/en, Accessed: 24-
03-2019
42. Tanwar S, Bhatia Q, Patel P, Kumari A, Singh PK, Hong W
(2020) Machine learning adoption in blockchain-based smart
applications: The challenges, and a way forward. IEEE Access
8:474–488. https://doi.org/10.1109/ACCESS.2019.2961372
43. Zhao H, Mao T, Duan J, Wang Y, Zhu H (2019) Fmcnn:
A factorization machine combined neural network for driving
safety prediction in vehicular communication. IEEE Access
7:11698–11706
44. Peng Z, Gao S, Li Z, Xiao B, Qian Y (2018) Vehicle safety
improvement through deep learning and mobile sensing. IEEE
Netw 32(4):28–33
45. Dairi A, Harrou F, Sun Y, Senouci M (2018) Obstacle
detection for intelligent transportation systems using deep
stacked autoencoder and k-nearest neighbor scheme. IEEE
Sensors J 18(12):5122–5132
46. Dogru N, Subasi A (2018) Traffic accident detection using ran-
dom forest classifier. In: Learning and Technology Conference
(L&T), 2018 15th, pp 40–45, IEEE
47. Zhao H, Mao T, Yu H, Zhang MK, Zhu H (2018) A driving risk
prediction algorithm based on pca-bp neural network in vehicular
communication. In: 2018 10th International Conference on
Intelligent Human-Machine Systems and Cybernetics (IHMSC),
2, pp 164–169, IEEE
48. Ye YY, Hao XL, Chen HJ (2018) Lane detection method based
on lane structural analysis and cnns. IET Intell Transp Syst
12(6):513–520
49. Zhao H, Yu H, Mao T, Zhang M, Zhu H (2018) Vehicle
accident risk prediction over adaboost from vanets. In: 2018
10th International Conference on Intelligent Human-Machine
Systems and Cybernetics (IHMSC), 2, pp 39–43, IEEE
50. Reddy B, Kim Y-H, Yun S, Seo C, Jang J (2017) Real-time
driver drowsiness detection for embedded system using model
compression of deep neural networks. In: Proceedings of the
IEEE Conference on Computer Vision and Pattern Recognition
Workshops, pp 121–128
51. Kim J, Kim J, Jang G-J, Lee M (2017) Fast learning method for
convolutional neural networks using extreme learning machine
and its application to lane detection. Neural Netw 87:109–121
52. Nguyen H, Cai C, Chen F (2017) Automatic classification of
traffic incident’s severity using machine learning approaches.
IET Intell Transp Syst 11(10):615–623
53. Yuan Y, Xiong Z, Wang Q (2017) An incremental framework
for video-based traffic sign detection, tracking, and recognition.
IEEE Trans Intell Transp Syst 18(7):1918–1929
54. Chandrasiri NP, Nawa K, Ishii A (2016) Driving skill
classification in curve driving scenes using machine learning.
Journal of Modern Transportation 24(3):196–206
55. Sun J, Sun J (2016) Real-time crash prediction on urban
expressways: identification of key variables and a hybrid
support vector machine model. IET intelligent transport systems
10(5):331–337
56. AlNajada H, Mahgoub I (2016) Autonomous vehicles safe-
optimal trajectory selection based on big data analysis and prede-
fined user preferences. In: Ubiquitous Computing, Electronics &
Mobile Communication Conference (UEMCON), IEEE Annual,
pp 1–6, IEEE
57. Birek L, Grzywaczewski A, Iqbal R, Doctor F, Chang V (2018)
A novel big data analytics and intelligent technique to predict
driver’s intent. Comput Ind 99:226–240
58. Šabanovič E, Žuraulis V, Prentkovskis O, Skrickij V (2020)
Identification of road-surface type using deep neural networks
for friction coefficient estimation. Sensors 20(3):612
59. Verma B, Choudhary A (2018) Deep learning based real-
time driver emotion monitoring. In: 2018 IEEE International
Conference on Vehicular Electronics and Safety (ICVES), 1–6,
IEEE
60. Gupta R, Kumari A, Tanwar S A taxonomy of blockchain
envisioned edge-as-a-connected autonomous vehicles. Trans-
actions on Emerging Telecommunications Technologies, n/a,
n/a, e4009. https://doi.org/10.1002/ett.4009 https://onlinelibrary.
wiley.com/doi/pdf/10.1002/ett.4009, https://onlinelibrary.wiley.
com/doi/abs/10.1002/ett.4009
61. Tanwar S, Tyagi S, Budhiraja I, Kumar N (2019) Tactile internet
for autonomous vehicles: Latency and reliability analysis. IEEE
Wirel Commun 26(4):66–72. https://doi.org/10.1109/MWC.
2019.1800553
62. Vachhani H, Obiadat MS, Thakkar A, Shah V, Sojitra R, Bhatia J,
Tanwar S (2020) Machine learning based stock market analysis:
A short survey. In: Raj JS, Bashar A, Ramson SRJ (eds)
Innovative data communication technologies and application,
pp 12–26, cham, springer international publishing
63. K S, S.K. L, Khanna A, Tanwar S, Rodrigues JJPC, Roy NR
(2019) Alzheimer detection using group grey wolf optimization
based features with convolutional classifier. Computers & Elec-
trical Engineering 77:230–243. https://doi.org/10.1016/j.com
peleceng.2019.06.001. http://www.sciencedirect.com/science/ar
ticle/pii/S0045790618325448
64. Dave JR, Bhatia J (2013) Issues in static periodic broadcast
in vanet. International Journal of Advances in Engineering &
Technology 6(4):1712
65. Manvi SS, Tangade S (2017) A survey on authentication
schemes in vanets for secured communication. Vehicular
Communications 9:19–30

66. Bhatia J, Kakadia P, Bhavsar M, Tanwar S (2019) SDN
Enabled Network Coding Based Secure Data Dissemination in
VANET Environment. IEEE Internet Things J. 7(7):6078–6087.
https://doi.org/10.1109/JIOT.2019.2956964
67. Karagiannis D, Argyriou A (2018) Jamming attack detection in
a pair of rf communicating vehicles using unsupervised machine
learning. Vehicular Communications 13:56–63
68. Lai WK, Lin M-T, Yang Y-H (2015) A machine learning
system for routing decision-making in urban vehicular ad hoc
networks. International Journal of Distributed Sensor Networks
11(3):374391
69. Polkowski Z, Vora J, Tanwar S, Tyagi S, Singh PK, Singh Y
(2019) Machine learning-based software effort estimation: An
analysis. In: 2019 11th International Conference on Electronics,
Computers and Artificial Intelligence (ECAI), pp 1–6
70. Khan S, Alam M, Fränzle M, Müllner N, Chen Y (2018) A
traffic aware segment-based routing protocol for vanets in urban
scenarios. Computers & Electrical Engineering 68:447–462
71. Chauhan K, Jani S, Thakkar D, Dave R, Bhatia J, Tanwar S,
Obaidat MS (2020) Automated machine learning: The new wave
of machine learning. In: 2020 2nd International Conference
on Innovative Mechanisms for Industry Applications (ICIMIA),
pp 205–212
72. Slavik M, Mahgoub I (2011) Applying machine learning to the
design of multi-hop broadcast protocols for vanet. In: 2011 7th
International Wireless Communications and Mobile Computing
Conference, pp 1742–1747, IEEE
73. Patel VJ, Anuradha PG (2012) A review on routing overhead
in broadcast based protocol on vanet. International Journal of
Engineering and Innovative Technology (IJEIT) 2(5):109–113
74. Qi Q, Wang J, Ma Z, Sun H, Cao Y, Zhang L, Liao
J (2019) Knowledge-driven service offloading decision for
vehicular edge computing: A deep reinforcement learn-
ing approach. IEEE Trans Veh Technol 68:4192–4203.
https://doi.org/10.1109/TVT.2019.2894437
75. Ye H, Li GY (2018) Deep reinforcement learning for resource
allocation in v2v communications. In: 2018 IEEE International
Conference on Communications (ICC), pp 1–6, IEEE
76. Tan LT, Hu RQ (2018) Mobility-aware edge caching and
computing in vehicle networks: A deep reinforcement learning.
IEEE Trans Veh Technol 67(11):10190–10203
77. Sangare M, Banerjee S, Muhlethaler P, Bouzefrane S (2018)
Predicting transmission success with support vector machine
in vanets. In: 2018 IFIP/IEEE International Conference on
Performance Evaluation and Modeling in Wired and Wireless
Networks (PEMWN), pp 1–6, IEEE
78. Cheng N, Lyu F, Chen J, Xu W, Zhou H, Zhang S, Shen X (2018)
Big data driven vehicular networks. IEEE Netw, 99, pp 1–8
79. He Y, Zhao N, Yin H (2018) Integrated networking, caching,
and computing for connected vehicles: A deep reinforcement
learning approach. IEEE Trans Veh Technol 67(1):44–55
80. Tuzi G, Medenica Z, Miucic R (2018) Using convolutional
neural networks for distance estimation between dedicated
short-range communications equipped vehicles. In: 2018 IEEE
87th Vehicular Technology Conference (VTC Spring), pp 1–6,
IEEE
81. Lyu F, Cheng N, Zhou H, Xu W, Shi W, Chen J, Li M
(2018) Dbcc: Leveraging link perception for distributed beacon
congestion control in vanets. IEEE Internet Things J. 5(6):4237–
4249
82. Nie L, Li Y, Kong X (2018) Spatio-temporal network traffic
estimation and anomaly detection based on convolutional neural
network in vehicular ad-hoc networks. IEEE Access 6:40168–
40176
Peer-to-Peer Netw. Appl.
83. Pal R, Prakash A, Tripathi R, Singh D (2018) Analytical model
for clustered vehicular ad hoc network analysis. ICT Express
4(3):160–164
84. Tang F, Mao B, Fadlullah ZM, Kato N, Akashi O, Inoue T,
Mizutani K (2018) On removing routing protocol from future
wireless networks: A real-time deep learning approach for
intelligent traffic control. IEEE Wirel Commun 25(1):154–160
85. Sharma S, Kaul A (2018) Hybrid fuzzy multi-criteria decision
making based multi cluster head dolphin swarm optimized ids
for vanet. Vehicular Communications 12:23–38
86. Shams EA, Rizaner A, Ulusoy AH (2018) Trust aware support
vector machine intrusion detection and prevention system in
vehicular ad hoc networks. Computers & Security 78:245–
254
87. Ghaleb FA, Zainal A, Rassam MA, Mohammed F (2017)
An effective misbehavior detection model using artificial
neural network for vehicular ad hoc network applications. In:
Application, Information and Network Security (AINS), 2017
IEEE Conference on, pp 13–18, IEEE
88. Zhang J, Ren M, Labiod H, Khoukhi L (2017) Link duration
prediction in vanets via adaboost. In: GLOBECOM 2017-2017
IEEE Global Communications Conference, pp 1–6, IEEE
89. Roscher K, Nitsche T, Knorr R (2017) Know thy neighbor-a
data-driven approach to neighborhood estimation in vanets. In:
Vehicular Technology Conference (VTC-Fall), 2017 IEEE 86th,
1–5, IEEE
90. Zhao L, Li Y, Meng C, Gong C, Tang X (2016) A svm based
routing scheme in vanets. In: Communications and Information
Technologies (ISCIT), 2016 16th International Symposium on,
pp 380–383, IEEE
91. Taherkhani N, Pierre S (2016) Centralized and localized data
congestion control strategy for vehicular ad hoc networks using a
machine learning clustering algorithm. IEEE Trans Intell Transp
Syst 17(11):3275–3285
92. Wahab OA, Mourad A, Otrok H, Bentahar J (2016) Ceap: Svm-
based intelligent detection model for clustered vehicular ad hoc
networks. Expert Syst Appl 50:40–54
93. Bhatia JB (2019) Design and development of a framework for
reliable data dissemination in vanet environment using software
defined networking and cloud
94. Magaia N, Sheng Z (2019) Refiov: a novel reputation framework
for information-centric vehicular applications. IEEE Trans Veh
Technol 68(2):1810–1823
95. Li Q, Wang F, Wang J, Li W (2019) Lstm-based sql
injection detection method for intelligent transporta-
tion system. IEEE Trans Veh Technol 68(5):4182–4191.
https://doi.org/10.1109/TVT.2019.2893675
96. Portugal-Poma LP, Marcondes CesarAC, Senger H, Arantes L
(2014) Applying machine learning to reduce overhead in dtn
vehicular networks. In: 2014 Brazilian Symposium on Computer
Networks and Distributed Systems, pp 94–102, IEEE
97. Gao H, Liu C, Li Y, Yang X (2020) V2vr: Reliable hybrid-
network-oriented v2v data transmission and routing considering
rsus and connectivity probability. IEEE Trans Intell Transp Syst.
https://doi.org/10.1109/TITS.2020.2983835
98. Tanwar S, Tyagi S, Kumar N, Obaidat MS (2019) La-mhr: Learn-
ing automata based multilevel heterogeneous routing for oppor-
tunistic shared spectrum access to enhance lifetime of wsn. IEEE
Syst J 13(1):313–323. https://doi.org/10.1109/JSYST.2018.281
8618
99. Mungra D, Agrawal A, Sharma P, Tanwar S, Obaidat MS
(2020) Pratit: a cnn-based emotion recognition system using
histogram equalization and data augmentation. Multimedia Tools
and Applications 79(3):2285–2307
Peer-to-Peer Netw. Appl.
100. Khaliq KA, Raza SM, Chughtai O, Qayyum A, Pannek J
(2018) Experimental validation of an accident detection and
management application in vehicular environment. Computers &
Electrical Engineering 71:137–150
101. Jo D, Yu B, Jeon H, Sohn K (2019) Image-to-image learning to
predict traffic speeds by considering area-wide spatio-temporal
dependencies. IEEE Trans Veh Technol 68(2):1188–1197
102. Raj J, Bahuleyan H, Vanajakshi LD (2016) Application of data
mining techniques for traffic density estimation and prediction.
Transportation Research Procedia 17:321–330
103. Cheng Z, Lu J, Li Y (2018) Freeway crash risks evaluation by
variable speed limit strategy using real-world traffic flow data.
Accident Analysis & Prevention 119:176–187
104. Wang Y, Cao J, Li W, Gu T, Shi W (2017) Exploring traffic
congestion correlation from multiple data sources. Pervasive and
Mobile Computing 41:470–483
105. Sen R, Raman B (2012) Intelligent transport systems for indian
cities. In: Presented as part of the 6th USENIX/ACM Workshop
on Networked Systems for Developing Regions
106. Bhattacharya P, Tanwar S, Bodke U, Tyagi S, Kumar N
(2019) Bindaas: Blockchain-based deep-learning as-a-service
in healthcare 4.0 applications. IEEE Transactions on Network
Science and Engineering. https://doi.org/10.1109/TNSE.22.019.
296193
107. Yau K-LA, Qadir J, Khoo HL, Ling MH, Komisarczuk P (2017)
A survey on reinforcement learning models and algorithms
for traffic signal control. ACM Computing Surveys (CSUR)
50(3):34
108. Liebig T, Piatkowski N, Bockermann C, Morik K (2017)
Dynamic route planning with real-time traffic predictions. Inf
Syst 64:258–265
109. Kumar N, Chilamkurti N, Park JH (2013) Alca: agent learning–
based clustering algorithm in vehicular ad hoc networks.
Personal and ubiquitous computing 17(8):1683–1692
110. Liang X, Du X, Wang G, Han Z (2019) A deep reinforcement
learning network for traffic light cycle control. IEEE Trans Veh
Technol 68(2):1243–1253. https://doi.org/10.1109/TVT.2018.
2890726
111. Li J, Luo G, Cheng N, Yuan Q, Wu Z, Gao S, Liu Z (2019) An
end-to-end load balancer based on deep learning for vehicular
network traffic control. IEEE Internet Things J. 6(1):953–966
112. Guo R, Keshavamurthy S, Oguchi K (2018) Simultaneous object
detection and association in connected vehicle platform. In: 2018
IEEE Intelligent Vehicles Symposium (IV), pp 840–845, IEEE
113. Tomar AS, Singh M, Sharma G, Arya KV (2018) Traffic
management using logistic regression with fuzzy logic. Procedia
Computer Science 132:451–460
114. Li D, Deng L, Cai Z, Franks B, Yao X (2018) Intelligent trans-
portation system in macao based on deep self-coding learning.
IEEE Transactions on Industrial Informatics 14(7):3253–3260
115. Wu Y, Tan H, Qin L, Ran B, Jiang Z (2018) A hybrid
deep learning based traffic flow prediction method and its
understanding. Transportation Research Part C: Emerging
Technologies 90:166–180
116. Wang Q, Wan J, Li X (2018) Robust hierarchical deep learning
for vehicular management. IEEE Trans Veh Technol 68(5):4148–
4156. https://doi.org/10.1109/TVT.2018.2883046
117. Kurniawan J, Syahra SensaGS, Dewa CK et al (2018) Traffic
congestion detection: Learning from cctv monitoring images
using convolutional neural network. Procedia computer science
144:291–297
118. Cheng S, Lu F, Peng P, Wu S (2018) Short-term traffic
forecasting: An adaptive st-knn model that considers spatial
heterogeneity. Comput Environ Urban Syst 71:186–198
119. Munoz-Organero M, Ruiz-Blaquez R, Sánchez-Fernández L
(2018) Automatic detection of traffic lights, street crossings and
urban roundabouts combining outlier detection and deep learning
classification techniques based on gps traces while driving.
Comput Environ Urban Syst 68:1–8
120. Chen W, An J, Li R, Fu L, Xie G, Bhuiyan MZA, Li K
(2018) A novel fuzzy deep-learning approach to traffic flow
prediction with uncertain spatial–temporal data features. Futur
Gener Comput Syst 89:78–88
121. Jeon H-S, Kum D-S, Jeong W-Y (2018) Traffic scene prediction
via deep learning: Introduction of multi-channel occupancy grid
map as a scene representation. In: 2018 IEEE Intelligent Vehicles
Symposium (IV), pp 1496–1501, IEEE
122. ElHatri C, Boumhidi J (2018) Fuzzy deep learning based urban
traffic incident detection. Cogn Syst Res 50:206–213
123. Rahimipour S, Moeinfar R, Hashemi SM (2018) Traf-
fic prediction using a self-adjusted evolutionary neural net-
work. J. Mod. Transport. 27:306-316. https://doi.org/10.1007/
s40534-018-0179-5
124. Cheng J, Wu W, Cao J, Li K (2017) Fuzzy group-based inter-
section control via vehicular networks for smart transporta-
tions. IEEE Transactions on Industrial Informatics 13(2):751–
758
125. Raza A, Zhong M (2017) Hybrid lane-based short-term
urban traffic speed forecasting: A genetic approach. In:
Transportation Information and Safety (ICTIS), 2017 4th
International Conference on, pp 271–279, IEEE
126. Yang H-F, Dillon TS, Chen Y-PP (2017) Optimized structure of
the traffic flow forecasting model with a deep learning approach.
IEEE transactions on neural networks and learning systems
28(10):2371–2381
127. Du X, Zhang H, VanNguyen H, Han Z (2017) Stacked lstm
deep learning model for traffic prediction in vehicle-to-vehicle
communication. In: Vehicular Technology Conference (VTC-
Fall), 2017 IEEE 86th, pp 1–5, IEEE
128. Koesdwiady A, Soua R, Karray F (2016) Improving traffic flow
prediction with weather information in connected cars: a deep
learning approach. IEEE Trans Veh Technol 65(12):9508–9517
129. Li L, Lv Y, Wang F-Y (2016) Traffic signal timing via deep
reinforcement learning. IEEE/CAA Journal of Automatica Sinica
3(3):247–254
130. Yu X, Xiong S, He Y, Wong WE, Zhao Y (2016) Research on
campus traffic congestion detection using bp neural network and
markov model. Journal of information security and applications
31:54–60
131. Kumar K, Parida M, Katiyar VK (2013) Short term traffic
flow prediction for a non urban highway using artificial neural
network. Procedia-Social and Behavioral Sciences 104:755–764
132. Bhatia J, Dave R, Bhayani H, Tanwar S, Nayyar A (2020) SDN-
based real-time urban traffic analysis in VANET environment.
Comput Commun 149:162–175
133. Kumari A, Gupta R, Tanwar S, Kumar N (2020) Blockchain
and ai amalgamation for energy cloud management: Challenges,
solutions, and future directions. Journal of Parallel and Dis-
tributed Computing 143:148–166. https://doi.org/10.1016/j.jpdc.
2020.05.004. http://www.sciencedirect.com/science/article/pii/S
074373152030277X
134. Kuang L, Yan X, Tan X, Li S, Yang X (2019) Predicting taxi
demand based on 3d convolutional neural network and multi-task
learning. Remote Sens 11(11):1265
135. Ziebinski A, Cupek R, Grzechca D, Chruszczyk L (2017)
Review of Advanced Driver Assistance Systems (ADAS). In:
AIP Conference Proceedings, 1906, p 120002, AIP Publishing
LLC
 Peer-to-Peer Netw. Appl.

136. Jiménez F, Naranjo JE, Anaya JJ, Garcı́a F, Ponz A,
Armingol JM (2016) Advanced driver assistance system for road
environments to improve safety and efficiency. Transportation
research procedia 14:2245–2254
137. Martinez CM, Heucke M, Wang F-Y, Gao B, Cao D (2017)
Driving style recognition for intelligent vehicle control and
advanced driver assistance: A survey. IEEE Trans Intell Transp
Syst 19(3):666–676
Publisher’s note Springer Nature remains neutral with regard to
jurisdictional claims in published maps and institutional affiliations.

Affiliations
Sahil Khatri1 · Hrishikesh Vachhani1 · Shalin Shah1 · Jitendra Bhatia1 · Manish Chaturvedi2 · Sudeep Tanwar3 ·
Neeraj Kumar4

Sahil Khatri
sahilk.khatri@gmail.com
Hrishikesh Vachhani
hrishikeshvachhani@gmail.com
Shalin Shah
shalinrshah1202@gmail.com
Jitendra Bhatia
jitendrabbhatia@gmail.com
Manish Chaturvedi
manishchaturvedi@iitram.ac.in
Sudeep Tanwar
sudeep.tanwar@nirmauni.ac.in
1 Department of Computer Engineering, Vishwakarma Government
Engineering College, Gujarat, India
2 Department of Computer Science and Engineering, Indian
Institute of Infrastructure Technology Research And Management
(IITRAM), Gujarat, India
3 Department of Computer Science and Engineering, Institute of
Technology, Nirma University, Gujarat, India
4 Department of Computer Science and Engineering, Thapar Insti-
tute of Engineering and Technology, Patiala India. Department of
Computer Science and Information Engineering, Asia University,
Taiwan. King Abdul Aziz University, Jeddah, Saudi Arabia