A computer-implemented method of predicting a risk of an accident is disclosed. The method includes computing an anomaly score based on sensor data to obtain a series of anomaly scores. The method also includes processing the anomaly score to limit a processed anomaly score below a predetermined value. The method further includes calculating an accident risk score at time of prediction by using a series of processed anomaly scores up to the time of the prediction. The method includes further outputting a prediction result based on the accident risk score.