Driver behavior assessment is a hard task since it involves distinctive interconnected factors of different types. Especially in case of insurance applications, a trade-off between application cost and data accuracy remains a challenge. Data uncertainty and noises make smart-phone or low-cost sensor platforms unreliable. In order to deal with such problems, this paper proposes the combination between the Belief and Fuzzy theories with a two-level fusion based architecture. It enables the propagation of information errors from the lower to the higher level of fusion using the belief and/or the plausibility functions at the decision step. The new developed risk models of the Driver and Environment are based on the accident statistics analysis regarding each significant driving risk parameter. The developed Vehicle risk models are based on the longitudinal and lateral accelerations (G-G diagram) and the velocity to qualify the driving behavior in case of critical events (e.g. Zig-Zag scenario). In case of over-speed and/or accident scenario, the risk is evaluated using our new developed Fuzzy Inference System model based on the Equivalent Energy Speed (EES). The proposed approach and risk models are illustrated by two examples of driving scenarios using the CarSim vehicle simulator. Results have shown the validity of the developed risk models and the coherence with the a-priori risk assessment.