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Driving in a dynamic environment that consists of other actors is inherentlya risky task as each actor influences the driving decision and maysignificantly limit the number of choices in terms of navigation and safetyplan. The risk encountered by the Ego actor depends on the driving scenario andthe uncertainty associated with predicting the future trajectories of the otheractors in the driving scenario. However, not all objects pose a similar risk.Depending on the object's type, trajectory, position, and the associateduncertainty with these quantities; some objects pose a much higher risk thanothers. The higher the risk associated with an actor, the more attention mustbe directed towards that actor in terms of resources and safety planning. Inthis paper, we propose a novel risk metric to calculate the importance of eachactor in the world and demonstrate its usefulness through a case study.

Watch out for the risky actors: Assessing risk in dynamic environments for safe driving