Trajectory data representing tracked positions of a vehicle along a trajectory having a start and end point is accessed. The trajectory data may include spatio-temporal information about the vehicle at different points along the trajectory. The trajectory may be divided into segments based, at least in part, on knowledge of inferred-parking locations. The segments may be map-matched to corresponding road segments. Additionally, historical data representing spatio-temporal travel patterns of vehicles learned from historical trajectories of vehicles corresponding to the map-matched-road segments may also be accessed. A behavioral state of the vehicle for a segment or position within a segment may be inferred, based at least in part, on (i) the vehicle's spatio-temporal information corresponding to the segment or position within a segment, (ii) knowledge of the map-matched-road segment, and (iii) the historical data.