A control system for a vehicle, such as a cruise control or automatic drive system, comprises the steps of receiving user movement data indicative of movement of a user's head, receiving object movement data 64 indicative of movement of an object associated with a non-driving task, determining relative movement parameters 66 indicative of the relative movement of the user's head with respect to the object in dependence on the received user movement data and the object movement data, and determining an attention level of the user to the non-driving task 68 in dependence on the determined relative movement parameter, and outputting a control signal to a vehicle system 69 based on the attention level. The system may determine a type of non-driving task and select a user movement model for calculating user attention based on that type of task. The system may further determine a control strategy for engaging the user with a driving task based on attention level. A vehicle comprising this system is also claimed, as is the method executed by the system, and medium comprising computer readable instructions to carry out said method.
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