Dynamic risk adaptation in a vehicle

The present disclosure relates to methods, systems, a vehicle and a computer-readable storage medium and a computer program product. The method includes obtaining a baseline risk model generated based on one or more risk-associated parameters. The method further includes obtaining sensor data from a sensor system of a vehicle. The method further includes estimating one or more risk values associated with the one or more risk-associated parameters based on the obtained sensor data and generating, based on the one or more estimated risk values, an adopted risk model. Further, the method includes provisioning the generated adopted risk model for determining an acceptable risk model for forming a driving policy of an ADS.