We propose a model structure with a double-layer hidden Markov model (HMM) to recognise driving intention and predict driving behaviour.The upper-layer multi-dimensional discrete HMM (MDHMM) in the double-layer HMM represents driving intention in a combined working case,constructed according to the driving behaviours in certain single working cases in the lower-layer multi-dimensional Gaussian HMM (MGHMM).The driving behaviours are recognised by manoeuvring the signals of the driver and vehicle state information,and the recognised results are sent to the upper-layer HMM to recognise driving intentions.Also,driving behaviours in the near future are predicted using the likelihood-maximum method.A real-time driving simulator test on the combined working cases showed that the double-layer HMM can recognise driving intention and predict driving behaviour accurately and efficiently.As a result,the model provides the basis for pre-waming and intervention of danger and improving comfort performance.