Extracting Overtaking Segments by Unsupervised Clustering and Predicting Nonmotorized Vehicle’s Trajectory

Table 1

Cycling features when overtaking begins.

Lateral speed (absolute value)
	HDP topic model					HDPHMM
	Mean	Std	30%	50%	85%	Mean	Std	30%	50%	85%
Overtaking	0.284	0.247	0.120	0.219	0.520 (70.15%)	0.281	0.242	0.121	0.218	0.517 (71.15%)
Non-overtaking	0.192	0.172	0.080	0.143	0.357 (70.75%)	0.191	0.171	0.080	0.143	0.356 (64.65%)
Overtaking beginning	0.274	0.256	0.098	0.173	0.533	0.314	0.239	0.141	0.249	0.591
Longitudinal speed
	HDP topic model					HDPHMM
	Mean	Std	30%	50%	85%	Mean	Std	30%	50%	85%
Overtaking	5.151	2.392	4.447	5.570	7.087 (63.55%)	5.303	2.200	4.753	5.635	7.011 (62.95%)
Non-overtaking	4.674	1.513	3.969	4.718	6.098 (69.35%)	4.658	1.517	3.952	4.704	6.084 (65.95%)
Overtaking beginning	4.997	1.965	3.990	4.963	7.101	5.323	1.670	4.378	5.419	7.039
Lateral acceleration (absolute value)
	HDP topic model					HDPHMM
	Mean	Std	30%	50%	85%	Mean	Std	30%	50%	85%
Overtaking	0.594	0.639	0.216	0.399	1.083 (47.05%)	0.526	0.558	0.195	0.358	0.949 (50.95%)
Non-overtaking	0.201	0.266	0.068	0.132	0.369 (40.95%)	0.202	0.276	0.068	0.131	0.368 (47.15%)
Overtaking beginning	0.711	0.811	0.257	0.483	1.318	0.566	0.633	0.205	0.383	1.035
Longitudinal acceleration
	HDP topic model					HDPHMM
	Mean	Std	30%	50%	85%	Mean	Std	30%	50%	85%
Overtaking	−0.100	8.047	−1.853	0.000	4.605 (59.65%)	−0.075	6.056	−1.548	0.000	3.803 (60.15%)
Non-overtaking	−0.012	3.538	−0.292	0.001	0.748 (54.15%)	−0.013	3.739	−0.290	0.001	0.739 (54.15%)
Overtaking beginning	0.596	12.227	−2.008	0.319	7.395	0.932	5.922	−1.401	0.358	5.423