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A trajectory is formed by a large number of measurements, where many of them are unnecessary to describe the actual trajectory of the vehicle, or even harmful due to sensor noise. This not only consumes large amounts of memory, but also makes the extracting knowledge process more difficult. Trajectory summarisation techniques can solve this problem, generating a smaller and more manageable representation and even semantic segments. In this comprehensive review, we explain and classify techniques for the summarisation of trajectories according to their search strategy and point evaluation criteria, describing connections with the line simplification problem. We also explain several special concepts in trajectory summarisation problem. 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