Precision in event characterization in connected vehicles has become increasingly important with the responsive connectivity that is available to the modern vehicles. Event characterization via vehicular sensors are utilized in safety and autonomous driving applications in vehicles. While characterization systems have been shown to be capable of predicting the risky driving patterns, precision of such systems still remains an open issue. The major issues against the driving event characterization systems need to be addressed in connected vehicle settings, which are the heavy imbalance and the event infrequency of the driving data and the existence of the time-series detection systems that are optimized for vehicular settings. To overcome the problems, we introduce the application of the prior-knowledge input method to the characterization systems. Furthermore, we propose a recurrent-based denoising auto-encoder network to populate the existing data for a more robust training process. The results of the conducted experiments show that the introduction of knowledge-based modelling enables the existing systems to reach significantly higher accuracy and F1-score levels. Ultimately, the combination of the two methods enables the proposed model to attain 14.7\% accuracy boost over the baseline by achieving an accuracy of 0.96.