 Our approach classifies the driver behavior of other vehicles or road-agents (aggressive or conservative) and takes that into account for decision making and safe driving.
<clarity>  Our approach classifies the driver behavior of other vehicles or road-agents (aggressive or conservative) and takes that into account for decision making and safe driving.
 Our approach classifies the driver behavior of other vehicles or road-agents (aggressive or conservative) and considers that information for decision-making and safe driving.