Driver monitoring device, driver monitoring method and driver monitoring computer program

A driver monitoring method comprising:

• detecting an object having a possibility of affecting traveling of a vehicle based on an external sensor signal representing a situation around the vehicle;
• detecting, among a gaze direction of a driver of the vehicle and an orientation of a face of the driver, at least the gaze direction based on a driver image representing the driver;
• determining whether or not an object direction to the detected object is included within a peripheral visual range corresponding to a peripheral visual field of the driver based on the gaze direction;
• setting an inattentiveness warning condition when the object direction is included within the peripheral visual range based on a driving mode being applied to the vehicle or the situation around the vehicle;
• and
• notifying the driver of an inattentive warning via a notification device when at least a detected one of the orientation of the face of the driver and the gaze direction satisfies the inattentiveness warning condition.

A non-transitory recording medium that stores a driver monitoring computer program for causing a processor mounted on the vehicle to execute the process comprising:

• detecting an object having a possibility of affecting traveling of a vehicle based on an external sensor signal representing a situation around the vehicle;
• detecting, among a gaze direction of a driver of the vehicle and an orientation of a face of the driver, at least the gaze direction based on a driver image representing the driver;
• determining whether or not an object direction to the detected object is included within a peripheral visual range corresponding to a peripheral visual field of the driver based on the gaze direction;
• setting an inattentiveness warning condition when the object direction is included within the peripheral visual range based on a driving mode being applied to the vehicle or the situation around the vehicle;
• and
• notifying the driver of an inattentiveness warning via a notification device when at least detected one of the orientation of the face of the driver and the gaze direction of the driver satisfies the inattentiveness warning condition.