Methods of creating trained semantic segmentation network models and operating vehicles using the model are disclosed. One example method includes an outside view camera configured to capture images that represent an artificial representation of the driver's view, a driver-facing camera configured to capture a driver's eye movements, and an electronic controller. The electronic controller is configured to receive images from the cameras; calibrate the image of the driver's eye movement with the artificial driver view; create a pixel weighted heat map of the calibrated images; create a trainedsemantic segmentation neural network model and a trained attention neural network model using the pixel weighted heat map and the artificial driver view; and operate the vehicle using the trained semantic segmentation neural network model and the trained attention neural network model.
Semantic segmentation using driver attention information