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I have also had an adult fall asleep on the back. We were on the M4 and I luckily saw him start falling in my mirror. I stuck my arm back and held him up while getting to the hard shoulder where I had to stall to a halt because my clutch arm was holding him up. He was still asleep and I had no choice but to let him fall.
When my daughters are on the back I try to regularly communicate when possible and at speed/on the motorway I grab a knee from time to time or even deliberately duck to give them a wind blast.
I think the answer is probably helmet comms.
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