Abstract: A method is provided for monitoring a driver of a vehicle, the method receives a state of the driver; receives one or more objects of a real environment model of the vehicle; generates one or more objects of an envisioned environment model of the driver based on the one or more objects of the real environment model of the vehicle and the state of the driver, wherein, if the state of the driver indicates that at least one sense of the driver sensed a particular object of the real environment model, the particular object of the real environment model is added to the envisioned environment model; and updates the one or more objects of the envisioned environment model based on the state of the driver, wherein the one or more objects of the envisioned environment model are updated by a physics engine if the state of the driver indicates that the driver is prevented from sensing the one or more objects of the real environment model.