System for a vehicle comprising: a plurality of sensors configured to detect data of an environment external to a vehicle and further configured to detect data of a driver inside the vehicle, wherein at least one of the plurality sensors is inside the vehicle and configured to face the driver; a driver monitoring system configured to generate driver perception data regarding the driver inside the vehicle; an automated driving system configured to generate vehicle data comprising environmental perception data indicating a risk assessment regarding an environment surrounding the vehicle; a risk estimator configured to determine an integrated risk assessment based on the vehicle data and the driver perception data, wherein the vehicle data further comprises driving monitoring system data regarding the driver, and wherein the risk estimator configured to determine the integrated risk assessment comprises the risk estimator configured to determine a combined risk from the vehicle data and the driver perception data based on a consistency between risk indicated from the vehicle data and risk indicated from the driver perception data, wherein the driver perception data comprises data indicating a probabilistic risk assessment regarding one or more elements of the environment surrounding the vehicle, wherein the driver perception data includes data indicating a probabilistic risk assessment of the driver's monitoring ability, and wherein the DMS configured to generate the driver perception data comprises the DMS configured to: determine an awareness level of the driver from sensor data from one or more sensors inside the vehicle; and determine the probabilistic risk assessment of the driver's monitoring ability including comparing the determined awareness level of the driver to one or more threshold values each associated with a level of driver awareness; and an Operational Design Domain monitor configured to determine ODD compliance assessment of the vehicle at least based on the determined integrated risk assessment and whether the combined risk is greater than a threshold. a plurality of sensors configured to detect data of an environment external to a vehicle and further configured to detect data of a driver inside the vehicle, wherein at least one of the plurality sensors is inside the vehicle and configured to face the driver; a driver monitoring system configured to generate driver perception data regarding the driver inside the vehicle; an automated driving system configured to generate vehicle data comprising environmental perception data indicating a risk assessment regarding an environment surrounding the vehicle; a risk estimator configured to determine an integrated risk assessment based on the vehicle data and the driver perception data, wherein the vehicle data further comprises driving monitoring system data regarding the driver, and wherein the risk estimator configured to determine the integrated risk assessment comprises the risk estimator configured to determine a combined risk from the vehicle data and the driver perception data based on a consistency between risk indicated from the vehicle data and risk indicated from the driver perception data, wherein the driver perception data comprises data indicating a probabilistic risk assessment regarding one or more elements of the environment surrounding the vehicle, wherein the driver perception data includes data indicating a probabilistic risk assessment of the driver's monitoring ability, and wherein the DMS configured to generate the driver perception data comprises the DMS configured to: determine an awareness level of the driver from sensor data from one or more sensors inside the vehicle; and determine the probabilistic risk assessment of the driver's monitoring ability including comparing the determined awareness level of the driver to one or more threshold values each associated with a level of driver awareness; and determine an awareness level of the driver from sensor data from one or more sensors inside the vehicle; and determine the probabilistic risk assessment of the driver's monitoring ability including comparing the determined awareness level of the driver to one or more threshold values each associated with a level of driver awareness; and