Algorithm 1: Label generation for the dataset.

Input: The label of each frame of the dataset

Output: Label of each time window, where 0: other behaviors, 1: lane keeping, 2: acceleration, 3: deceleration, 4: turning, 5: lane change

For each time window:

if all frames in the time window are unlabeled then

Set 0 as the label of the time window

else

Compute the mode of the labels in the time window

Set the mode as the label of the time window

End for