Method for estimating the level of attention of the driver of a vehicle moving in a lane of traffic, comprising the following steps: - capturing images of the ground continuously, at the front and/or at the rear of the vehicle, by means of at least one adapted camera, said images corresponding to a surface on the ground having a width at least equal to a lane of traffic width and a depth, - reconstituting an aerial view (11, 12) of a road section at successive current instants t, by integrating overtime, the images captured between an instant t1 = t - dt1 and the current instant t, dt1 being positive, - estimating the lateral position of the vehicle in the reconstituted aerial view (11, 12) at said successive current instants t, and the storage of said estimated positions of the vehicle between an instant t2 = t - dt2 and the current instant t, dt2 being positive and independent from dt1, - determining an estimated level of attention of the driver at an instant t3 = t - dt3, dt3 being positive, the instant t3 being before the instant t2 and the instant t3 being before or equal to the instant t1, according to: ∘the evolution of the lateral position of the vehicle in the aerial view between the instants t2 and t3, ∘the analysis of the profile of a road portion belonging to the aerial view reconstituted at the current instant t and corresponding to a sequence of images captured between the instant t1 and the current instant t, said road portion being at least partially situated upstream of the vehicle at the instant t3. - capturing images of the ground continuously, at the front and/or at the rear of the vehicle, by means of at least one adapted camera, said images corresponding to a surface on the ground having a width at least equal to a lane of traffic width and a depth, - reconstituting an aerial view (11, 12) of a road section at successive current instants t, by integrating overtime, the images captured between an instant t1 = t - dt1 and the current instant t, dt1 being positive, - estimating the lateral position of the vehicle in the reconstituted aerial view (11, 12) at said successive current instants t, and the storage of said estimated positions of the vehicle between an instant t2 = t - dt2 and the current instant t, dt2 being positive and independent from dt1, - determining an estimated level of attention of the driver at an instant t3 = t - dt3, dt3 being positive, the instant t3 being before the instant t2 and the instant t3 being before or equal to the instant t1, according to: ∘the evolution of the lateral position of the vehicle in the aerial view between the instants t2 and t3, ∘the analysis of the profile of a road portion belonging to the aerial view reconstituted at the current instant t and corresponding to a sequence of images captured between the instant t1 and the current instant t, said road portion being at least partially situated upstream of the vehicle at the instant t3. ∘the evolution of the lateral position of the vehicle in the aerial view between the instants t2 and t3, ∘the analysis of the profile of a road portion belonging to the aerial view reconstituted at the current instant t and corresponding to a sequence of images captured between the instant t1 and the current instant t, said road portion being at least partially situated upstream of the vehicle at the instant t3.