Vehicle control system

A control system for controlling a transition between a first driving mode and a second driving mode of a vehicle, the second driving mode requiring a higher level of interaction from an occupant than the first driving mode, the control system comprising one or more controllers, the control system configured to:

• receive image data of the occupant of the vehicle;
• quantify one or more characteristics of the occupant's gaze based at least in part on the received image data, the one or more characteristics being indicative of the occupant's attention to a non-driving task;
• determine a transition profile for transitioning between the first driving mode and the second driving mode based at least in part on the one or more characteristics of the occupant's gaze, wherein the transition profile comprises a transition position ahead of the vehicle at which the transition between the first and second driving modes will occur and the control system is configured to adjust the location of the transition position based at least in part on the one or more characteristics of the occupant's gaze;
• and
• generate and output a control signal to transition from the first driving mode to the second driving mode;
• wherein the control signal comprises instructions for controlling one or more vehicle systems in accordance with the transition profile.