Method of Assisting a Driver of a Vehicle, and a Driver Assistance System Thereof

A computer-implemented method for assisting a driver of a vehicle includes determining, based on a gaze direction of the driver, a field of view of the driver. The method includes detecting, using an object tracking system, that one or more objects are present around the vehicle. The method includes determining that one or more of the detected objects are outside of the field of view of the driver. The method includes performing an action in response to it being determined that one or more objects are outside of the field of view of the driver.