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