A method of planning a path for a vehicle is disclosed herein. The method includes receiving a plurality of perception images. At least one perception task is detected from the plurality of perception images including identifying a neighboring vehicle. A plurality of vehicle descriptors of the neighboring vehicle is recognized, and a plurality of predetermined vehicle descriptor sets are associated with a corresponding one of a plurality of cluster values with each cluster value being associated with a risk factor. The risk factor is determined based on mapping the plurality of vehicle descriptors recognized for the neighboring vehicle onto one of the plurality of predetermined vehicle descriptor sets and assigning the risk factor associated with the cluster value to the neighboring vehicle. The path for the vehicle is planned based on the at least one perception task and the risk factor and the path is executed for the vehicle.