A control system for a changing between driving modes, for example between automatic and manual modes, comprises one or more controllers which receives image data of an occupant of the vehicle 102, using the image to quantify one or more characteristics of the occupant's gaze 104 indicative of the occupant's attention to a non-driving task (eg. using a phone), determining a transition profile 106 for transitioning between a first driving mode (eg. autodrive) to a second driving mode requiring a higher level of interaction (eg. manual) from the user in dependence on said characteristics, and generating 108 and outputting 110 a control signal to transition from the first to the second mode. The control signal comprises instructions for controlling vehicle systems in accordance with the transition profile. The characteristics may include gaze duration or direction, or saccade duration, direction and/or velocity. The above system comprising an image sensor is also claimed, as is a vehicle comprising the above system. In another aspect, a method of controlling the transition between driving modes corresponding to the above control system is claimed.
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