It looks like a JSON notation for nested lists. So you can use one of the JSON packages:
tmp.txt='"TRIP_ID","COORDINATES"
"T1","[[-8.585676,41.148522],[-8.585712,41.148639],[-8.585685,41.148855],[-8.58573,41.148927],[-8.585982,41.148963]]"
"T2","[[-8.610876,41.14557],[-8.610858,41.145579],[-8.610903,41.145768]]"
'
df = read.csv(text=tmp.txt,stringsAsF=FALSE)
:
> require(jsonlite)
> fromJSON(df$COORDINATES[2])
[,1] [,2]
[1,] -8.610876 41.14557
[2,] -8.610858 41.14558
[3,] -8.610903 41.14577
, , . :
Clist = lapply(df$COORDINATES, fromJSON)
, , :
> Clist[[1]]
[,1] [,2]
[1,] -8.585676 41.14852
[2,] -8.585712 41.14864
[3,] -8.585685 41.14885
[4,] -8.585730 41.14893
[5,] -8.585982 41.14896
> Clist[[2]]
[,1] [,2]
[1,] -8.610876 41.14557
[2,] -8.610858 41.14558
[3,] -8.610903 41.14577
, , GPS- , SpatialLinesDataFrames - sp .