Vehicle environment monitoring system

A system for detecting a presence of people in

• an environment of a vehicle, the system comprising:
• a people detection unit configured to:
• detect a visibility for a detected person in the environment of the vehicle and assign a visibility point score thereto;
• detect an image size for the detected person;
• determine a quantitative measure of the visibility of the person based on at least a weighted visibility point score and the image size of the detected person in relation to a distance from the vehicle;
• a danger signaler configured to generate danger signals of at least one first kind;
• and
• a decision unit configured to determine when a first kind of danger signal is generated by the danger signaler in response to the people detection unit detecting the detected person as a function of the visibility of the detected person from vehicle,
• wherein the people detection unit is configured to distinguish between the detected person in a core warning region and the detected person in a peripheral warning region surrounding the core warning region, and
• wherein the danger signaler is configured to output a danger signal of the first kind when the detected person is present in the peripheral warning region and to output a danger signal of the second kind when a person is present in the core warning region.