## 5 Conclusions  
The main objective of this study is to uncover the spatial-temporal patterns and heterogeneity of merging behavior. The similarity of merging patterns is evaluated in terms of spatial and temporal aspects. High-risk situations involving mergers are identified and methodically investigated. Upon delineating merging patterns, an assessment of the variability in merging behaviors across vehicle types was conducted to clarify preferences for specific merging patterns among these types. As our research progressed, we made some new discoveries that had not been explored in existing studies, greatly attributed to the application of HD maps. We hope this article will further promote our understanding of on-ramp merging behavior. Conceptualization, L.L., Y.W  
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