Hi Tiago Lopes!
AI systems don’t exactly feel fear, but they do something else, which is to calculate a cost function. The goal at any given point in time is to execute the maneuver with the lowest cost.
Since a right-turn-on-red does indeed seem like a more dangerous maneuver than a right-turn-on-green, a path planner would probably assign a higher cost to that maneuver. If that maneuver is nonetheless the lowest cost option the car would execute it, however.