Control system and method for controlling a vehicle

A control system for controlling at least one vehicle subsystem to control dynamic operation of a vehicle, the control system being configured to select one of a plurality of subsystem control modes in dependence on a determined terrain type on which the vehicle is operating, each of the plurality of subsystem control modes) defining one or more configurable control parameter for controlling operation of the at least one vehicle subsystem;

• the control system comprising one or more processor collectively configured to:
• receive at least one input signal comprising at least one terrain indicator parameter providing an indication of the terrain type on which the vehicle is operating;
• determine the terrain type on which the vehicle is operating in dependence on the at least one terrain indicator parameter;
• and
• select one of the plurality of subsystem control modes in dependence on the determined terrain type, the selected one of the plurality of subsystem control modes defining the one or more control parameter for the at least one vehicle subsystem for operation on the determined terrain type;
• wherein the one or more processor is collectively configured to configure the one or more configurable control parameter in the selected one of the plurality of subsystem control modes in dependence on the at least one terrain indicator parameter.