Abstract: There is provided a control system for controlling a system, the control system comprising one or more controllers, configured to: receive a rule configuration signal, the rule configuration signal specifying properties of a rule, the properties comprising an indicator of an action to be carried out and at least one associated trigger condition; store the indicator of the action and the at least one associated trigger condition at a storage location; determine whether the rule is to be evaluated by the control system; and if the determination indicates that the rule is to be evaluated by the control system, and upon the at least one associated trigger condition being met: generate at least one control signal in accordance with the indicated action; and output the at least one control signal to at least one vehicle system to be controlled.