A vehicle recognition system includes a sound analysis circuit to analyze captured sounds using an audio machine learning technique to identify a sound event. The system includes an image analysis circuit to analyze captured images using an image machine learning technique to identify an image event, and a vehicle identification circuit to identify a type of vehicle based on the image event and the sound event. The vehicle identification circuit may further use V2V or V2I alerts to identify the type of vehicle and communicate a V2X or V2I alert message based on the vehicle type. In some aspects, the type of vehicle is further identified based on a light event associated with light signals detected by the vehicle recognition system.