For the vehicle unsafe behavior, three types of maneuver interested in this work are braking, turning and lane-changing [8]. In case of rapid acceleration mentioned above, it does not exceed our threshold. These can be categorized using two physical parameters: lateral acceleration and longitudinal deceleration. Dangerous level of both types of accelerations were listed when their magnitude greater are than 0.25g as the uncomforted level indicated from passenger refer to our experiences. Finally, the maneuvers detected from this algorithm were taken into an account with timestamp for verification as illustrated in Figure 1