Abstract--- This paper proposes a novel approach to risk assessment at road intersections. Unlike most approaches in the literature, it does not rely on trajectory prediction. Instead, dangerous situations are identified by comparing what drivers intend to do with what they are expected to do. Driver intentions and expectations are estimated from the joint motion of the vehicles, taking into account the layout of the intersection and the traffic rules at the intersection. The proposed approach was evaluated in simulation with two vehicles involved in typical collision scenarios. An analysis of the collision prediction horizon allows to characterize the efficiency of the approach in different situations, as well as the potential of different strategies to avoid an accident after a dangerous situation is detected.