Distributed driving with flexible roadside resources

Provided herein is technology related to a distributed driving system (DDS) by using flexible, on-demand, and customized resources and functions from an intelligent roadside toolbox (IRT). These resources comprise computational resources, cloud resources, system security resources, backup and redundancy resources. The functions comprise sensing, transportation behavior prediction and management, planning and decision-making, and vehicle control functions. The DDS and IRT technologies described herein are vehicle oriented, modular, and customizable for each vehicle to meet the specific needs of each individual vehicle as an on-demand and dynamic service. The DDS is configured to provide customized, on-demand, and dynamic IRT resources and functions to individual CAVs to supplement the CAV's sensing, transportation behavior prediction and management, planning and decision-making, and/or vehicle control.