| 15. An apparatus for reducing an accident risk for a vehicle, the vehicle having a vehicle operator and a vehicle environment
including an object, the apparatus comprising: a world modeler, the world modeler receiving object data correlated with objects
in the vehicle environment and creating a world model including object parameters and vehicle parameters; a world model change
detector, detecting changes in the world model at intervals, the world model change detector identifying vehicle parameter
changes and object parameter changes; a vehicle path predictor, using the vehicle parameters to predict a vehicle path; an
object path predictor, using the object parameters to predict an object path; a behavior evaluator, providing a collision
alert on establishing a collision risk from the vehicle path and the object path, providing a vehicle risk alert if the vehicle
path has an uncertainty greater than a first threshold value, and providing an object risk alert if the object path has an
uncertainty greater than a second threshold value; and wherein providing the vehicle risk includes: determining vehicle parameters
from the changes in the world model; determining long-term statistics for the vehicle parameters; and identifying the vehicle
risk using the long-term statistics of the vehicle parameters.
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