The invention relates to driver-centric risk assessment: risk object identification via causal inference with intent-aware driving models. A system and method for predicting driving actions based on intent-aware driving models that include receiving at least one image of a driving scene of an ego vehicle. The system and method also include analyzing the at least one image to detect and track dynamic objects located within the driving scene and to detect and identify driving scene characteristics associated with the driving scene and processing an ego-thing graph associated with the dynamic objects and an ego-stuff graph associated with the driving scene characteristics. The system and method further include predicting a driver stimulus action based on a fusion of representations of the ego-thing graph and the ego-stuff graph and a driver intention action based on an intention representation associated with driving intentions of a driver of the ego vehicle.
DRIVER-CENTRIC RISK ASSESSMENT: RISK OBJECT IDENTIFICATION VIA CAUSAL INFERENCE WITH INTENT-AWARE DRIVING MODELS