The invention discloses systems, devices, and methods for risk-aware driving. A system for a vehicle may be configured to, for each combination including a driving behavior of one or more driving behaviors, a traffic situation of one or more traffic situations in which to implement the one or more driving behaviors, and an object hypothesis of one or more object hypotheses for each of the one or more traffic situations, obtain, for the respective combination, one or more driving model parameters associated with the driving behavior and object hypothesis for the respective combination, obtain, for the respective combination, a probability indicating a likelihood of an accident or collision for the respective combination, determine, for the respective combination, a risk value based on the obtained safety driving parameters and the obtained probability for the respective combination; and select a driving behavior for each traffic situation based at least in part on the one or more determined risk values.
SYSTEMS, DEVICES, AND METHODS FOR RISK-AWARE DRIVING