Vehicle control system and method

(canceled)

A method of controlling a plurality of vehicle subsystems to operate in a plurality of subsystem control modes in dependence on one or more of a plurality of terrain indicators that are indicative of a driving surface, the method comprising determining said driving surface automatically and causing each of the plurality of vehicle subsystems to operate in a predetermined one of said plurality of subsystem control modes in dependence on the determined driving surface,

• the method comprising determining if an interruption in powertrain torque occurs and, in dependence on the identification of a powertrain torque interruption event:
• temporarily suspending causing an automatic change to said predetermined one of said plurality of subsystem control modes in which each subsystem is operating, and either suspending changes in a predetermined one or more of the plurality of terrain indicators, or reducing a weight applied to one or more of the plurality of terrain indicators in estimating the most appropriate control mode for the determined driving surface.

18-29. (canceled)

(canceled)

34-35. (canceled)

A motor vehicle control system for controlling a plurality of vehicle subsystems to operate in a plurality of subsystem control modes in dependence on one or more of a plurality of terrain indicators that are indicative of a driving surface, the system being operable in an automatic control mode selection condition in which the system is configured to determine said driving surface automatically and to cause each of the plurality of vehicle subsystems to operate in a predetermined one of said plurality of subsystem control modes in dependence on the determined driving surface,

• wherein the system is configured, in dependence on the identification of a powertrain torque interruption event:
• to temporarily suspend causing an automatic change to said predetermined one of said plurality of subsystem control modes in which each subsystem is operating;
• and, to either suspend changes in a predetermined one or more of the plurality of terrain indicators, or to reduce a weight applied to one or more of the plurality of terrain indicators in estimating the most appropriate control mode for the determined driving surface.