## 5 Discussion  
The scope of this contribution of this study was to introduce a new method to investigate the mechanism and degree to which braking affects the skidding potential and recommend the MSBDRs for trucks on horizontal curves.  
It is found that in most cases, there is no concern of truck skidding while traveling at the design speed during braking on horizontal curves. Current design policy for horizontal curves is more forgiving for the driver, and the result supports the conclusions of [PERSON] and [PERSON] et al. [32]. But this study further pointed out that there is a higher potential of truck skidding during emergency braking on horizontal curves. The results are satisfactory compared with previous research results [48; 52]. Due to the consideration of dynamic changes in brake force distribution, vertical tire load, and longitudinal and side friction during braking, it makes the prediction results more accurate. It is important that drivers and stakeholders understand the safety implications of risky braking maneuvers and the extent of the influence of risky braking maneuvers on vehicle skidding. Generally, it is known that drivers behave more safely when they are made aware of the risks or consequences of their driving styles (perceived behavior) [6; 10; 12].  
\begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Condition** & \multicolumn{4}{c}{**Horizontal Curves with a Limit-Minimum-Radius**} \\ \hline Compound condition & / & Steep slopes & Extremely wet road & More than 1.2 \(V_{DS}\) \\ \hline MSBDRs (m/s\({}^{2}\)) & 4.5 & 4.0 & 2.0 & 3.0 \\ \hline \hline \end{tabular}
\end{table}
Table 6: Recommended maximum deceleration values.  
Figure 12: Prediction of truck skidding potential and recommendations of the MSBDRs on horizontal curves at different driving speeds. Note: The area highlighted in orange indicates a high potential of skidding.  
This study provides a new perspective to investigate truck skidding on horizontal curves. This study fully integrates the advantages of model-driven and data-driven approaches. The integrated driven method can not only explain the underlying mechanisms of the effect of braking maneuvers on vehicle skidding, but also accurately quantify the impact of braking on skidding combined with big data analysis. It takes into account the dynamic changes in brake force distribution, vertical tire load, and longitudinal and side friction during braking. It considers driver behavior characteristics, vehicle attributes, and road properties in this study. It also makes the results widely applicable and more accurate.  
This study will contribute to effectively reducing traffic crash injuries on horizontal curves. For example, this study found that the most critical driving scenarios arise during emergency braking, as well as when braking is combined with wet road conditions or speeding. As a result, drivers should pay particular attention to driving safety during braking in wet weather. Additionally, speed control plays a vital role for trucks on horizontal curves, especially those with smaller radii.  
The findings of this research provide references and theoretical foundations for the formulation of autonomous driving braking strategies.