Presentation of dynamic threat information based on threat and trajectory prediction

A method of notifying a user of a vehicle, comprising:

• receiving detection data from one or more sensors;
• receiving user monitoring information and determining a user attentiveness;
• receiving object detection data related to a detected object in an environment around the vehicle based on the detection data, acquiring a predicted trajectory of the detected object, and determining whether the detected object constitutes a threat based on the predicted trajectory of the detected object and a vehicle trajectory;
• based on determining that the detected object constitutes a threat, determining an operating scenario based on-a the user attentiveness, a field of view, an operating mode, and a threat level;
• and
• generating a notification to the user representing the threat, the notification including a visual representation of the detected object and a visual indicator of the predicted trajectory of the detected object, wherein at least one of the visual representation and the visual indicator is customized based on the operating scenario and based on the user attentiveness.

A vehicle system comprising:

• a non-transitory memory having computer readable instructions;
• and
• a processing device for executing the computer readable instructions, the computer readable instructions controlling the processing device to perform:
• receiving detection data from one or more sensors;
• receiving user monitoring information and determining a user attentiveness;
• receiving object detection data related to a detected object in an environment around the vehicle based on the detection data, acquiring a predicted trajectory of the detected object, and determining whether the detected object constitutes a threat based on the predicted trajectory of the detected object and a vehicle trajectory;
• based on determining that the detected object constitutes a threat, determining an operating scenario based on-a the user attentiveness, a field of view, an operating mode, and a threat level;
• and
• generating a notification representing the threat to a user of the vehicle, the notification including a visual representation of the detected object and a visual indicator of the predicted trajectory of the detected object, wherein at least one of the visual representation and the visual indicator is customized based on the operating scenario and based on the user attentiveness.