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Abstract We consider a multipoint channel charting (MPCC) algorithm for radio resource management (RRM) in vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication systems. A massive MIMO (mMIMO) infrastructure network performs logical localization of vehicles to a MPCC, based on V2I communication signals. Combining logical distances given by channel charting with V2V measurements, the network trains a function to predict the quality of a direct V2V communication link from observed V2I communication signals. In MPCC, the network uses machine learning techniques to learn a logical radio map from V2I channel state information (CSI) samples transmitted from unknown locations. The network extracts CSI features, constructs a dissimilarity matrix between CSI samples, and performs dimensional reduction of the CSI feature space. Here, we use Laplacian Eigenmaps (LE) for dimensional reduction. The resulting MPCC is a two-dimensional map where the spatial distance between a pair of vehicles is closely approximated by the distance in the MPCC. In addition to V2I CSI, the network acquires V2V channel quality information for vehicles in the training set and develops a link quality predictor. MPCC provides a mapping for any vehicle location in the training set. To use MPCC for cognitive RRM of V2I and V2V communications, network management has to find logical MPCC locations for vehicles not in the training set, based on newly acquired V2I CSI measurements. For this, we develop an extension of LE-based MPCC to out-of-sample CSI samples. We evaluate the performance of link quality prediction for V2V communications in a mMIMO millimeter-wave scenario, in terms of the relative error of the predicted outage probability.