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Drivers' behaviors and decision making on the road directly affect the safety of themselves, other drivers, and pedestrians. However, as distinct entities, people cannot predict the motions of surrounding vehicles and they have difficulty in performing safe reactionary driving maneuvers in a short time period. To overcome the limitations of making an immediate prediction, in this work, we propose a two-stage data-driven approach: classifying driving patterns of on-road surrounding vehiclesdoi:10.3390/s19092111 fatcat:xiyszi3vebgy5gpw3ndw4ep6pq