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Wireless communications play an important role in improving transportation environment safety and providing Internet access for vehicles. This paper proposes a QoS-aware two-level uplink dynamic bandwidth allocation (DBA) algorithm for IEEE 802.16j-based vehicular networks. IEEE 802.16j is an extension of standard IEEE 802.16 to support relay mode operation where traffics from/to subscriber stations (SS) are relayed to/from a base station (BS) via a relay station (RS). In such a vehicular network, the IEEE 802.16j BSs are installed along a highway, RSs are installed in large vehicles such as coaches, and the 802.16j interface is equipped on SSs such as individual passengers' mobile devices within a moving coach. In the proposed DBA algorithm, a utility function, which considers characteristics of different types of services, is designed. The objective of the proposed two-level DBA algorithm is to allocate bandwidth to different types of services from BS to RSs and then from a RS to SSs with given quality of service (QoS) requirements. It aims at maximizing the utility of the overall network and minimizing the average queuing delay of the overall network. The simulation results show the effectiveness and efficiency of the proposed DBA algorithm.