A method of controlling the operating mode of a motor vehicle includes transitioning between driving and coasting modes and vice-versa automatically in response to a driver trigger. The method controls an engine of the motor vehicle to bring a driveline driven by the engine via an electronically controlled clutch into a lash state before engaging or disengaging the electronically controlled clutch thereby preventing driveline disturbances from being produced by the transition.

A method of controlling the operating mode of a motor vehicle includes transitioning between driving and coasting modes and vice-versa automatically in response to a driver trigger. The method controls an engine of the motor vehicle to bring a driveline driven by the engine via an electronically controlled clutch into a lash state before engaging or disengaging the electronically controlled clutch thereby preventing driveline disturbances from being produced by the transition.

A motor vehicle control system for controlling a plurality of vehicle subsystems to operate in a plurality of subsystem control modes in dependence on a driving surface. The system is operable in an automatic control mode selection condition in which the system is configured to determine the driving surface automatically and to cause each of the vehicle subsystems to operate in a predetermined one of the subsystem control modes in dependence on the determined driving surface. The system may be configured to determine if an interruption in powertrain torque occurs and to, in dependence on the identification of a powertrain torque interruption event, temporarily suspend causing an automatic change to the predetermined one of the subsystem control modes in which each subsystem is operating.

A motor vehicle control system for controlling a plurality of vehicle subsystems to operate in a plurality of subsystem control modes in dependence on a driving surface. The system is operable in an automatic control mode selection condition in which the system is configured to determine the driving surface automatically and to cause each of the vehicle subsystems to operate in a predetermined one of the subsystem control modes in dependence on the determined driving surface. The system may be configured to determine if an interruption in powertrain torque occurs and to, in dependence on the identification of a powertrain torque interruption event, temporarily suspend causing an automatic change to the predetermined one of the subsystem control modes in which each subsystem is operating.