Method and apparatus for detecting a wheel speed ripple

A control system for controlling detection of a wheel slip event on a vehicle having a plurality of wheels;

• the control system comprising one or more processors collectively configured to:
• receive a steer angle signal indicating a steer angle of the vehicle to perform a turn manoeuvre;
• determine which one of the wheels is an inside rear wheel of the vehicle in dependence on the steer angle signal, the inside rear wheel being disposed on an inside of the turn manoeuvre;
• receive at least one wheel speed signal indicating a wheel speed of each of the plurality of wheels;
• determine a fastest wheel speed of the plurality of wheels;
• detect one or more inside rear wheel speed ripple in dependence on a determination that the wheel speed of the inside rear wheel is the fastest wheel speed;
• and
• control detection of a wheel slip event on at least the inside rear wheel in dependence on detection of the one or more inside rear wheel speed ripple.