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| Method | Trajectory pattern | Advantage | Disadvantage |
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| Based on the trajectory radius [24, 42] | 3 patterns: (a) constant; (b) understeering; and (c) oversteering | This method can effectively describe the sideslip risk of vehicles. When a vehicle is oversteering, the sideslip risk is higher | This method only considers the extreme conditions during turning. In addition, it requires many indicators from the vehicle’s steering system. Thus, the observed trajectories cannot be directly classified |
| Based on lane departure [25, 43] | 3 patterns: (a) no lane departure; (b) lane departure to the inside; and (c) lane departure to the outside | This method is both simple and practical, enabling accurate categorization | Merely considering lane deviation is insufficient to fully describe the characteristics of trajectories on curved segments |
| Based on position of the curve-cutting point [26] | 3 patterns: (a) near the middle of the curved segment; (b) near the exit of the curved segment; and (c) near the entry of the curved segment | This method effectively utilizes the turning characteristics of vehicles on curved segments to categorize trajectories | This method lacks precise categorization indicators |
| Mixed classification [27, 44–46] | 6 patterns: (a) cutting; (b) swinging; (c) drifting (d) correcting; (e) normal behavior; and (f) ideal behavior | This method systematically categorizes vehicle trajectories on curved segments. It is also the most widely used classification method | The method lacks precise indicators. At the same time, some trajectory categories overlap and are difficult to distinguish. The characteristics of the trajectory cannot be effectively described |
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