Abstract: A method, a control unit and a computer program product for coupling an auxiliary power take-off of a motor vehicle transmission, in which, after a command to couple the auxiliary power take-off, conditions required for the coupling of the auxiliary power take-off are checked and, if the conditions are satisfied, an actuator system for coupling the auxiliary power take-off is activated. If, after the command to couple the auxiliary power take-off, the conditions for coupling the auxiliary power take-off are not fulfilled, then a control unit acts upon drive-train components in order to produce the conditions required for the coupling of the auxiliary power take-off.

Abstract: An automatic transmission capable of properly judging faults of a switching mechanism is provided. A control part ECU of the automatic transmission TM has an actual change gear ratio calculating part 10 and a fault judging part 11. Under a condition that the control part ECU has recognized that the first brake device B1 is switched to a reverse rotation preventing state, if the actual change gear ratio is kept to be an actual change gear ratio prior to a reduction of a rotational speed of a drive source ENG when the rotational speed of the drive source ENG is reduced, then the fault judging part 11 judges that a first brake B1 has a fault.

Abstract: Methods and systems are provided for generating a predictive tachometer profile at a tachometer of a vehicle. When an inertia phase of a transmission shift event is determined to be in progress, the predictive tachometer profile can be computed based on: a computed shift completion percentage; a difference between the current attained gear speed and the commanded gear speed; and a commanded engine torque that is determined based on the accelerator pedal position and the vehicle speed. The predictive tachometer profile can then be displayed at the tachometer. The predictive tachometer profile accounts for delays in a signal path between an engine speed sensor and the tachometer.

Abstract: A powertrain for an automotive vehicle comprising a thermal engine (10), a speed variation device (14) including an engine epicyclic gear train (26) with a sun gear (36) and a crown (48) which are each connected to shaft (12) of the thermal engine by a controlled coupling (28, 30) and to a fixed part (46) of the vehicle by a one-way automatic coupling (32, 34). A machine epicyclic gear train (90) is arranged on a machine shaft (92) substantially parallel to engine shaft (12) and connects the epicyclic gear train to a track for motion transmission to a drive axle. The machine epicyclic gear train comprises a sun gear (94) carried by a sun gear shaft (100), a crown (126) and a planet gear carrier (108). A speed variation device (14) comprises an additional epicyclic gear train (138) and an engine toothed wheel (168) carried by the shaft (12) and connects the shaft to a machine toothed wheel carried by additional epicyclic gear train.

Abstract: Methods, systems, computer-readable media, and apparatuses for processing sensor data are presented. An example method comprises accessing, by a computing device at a premises, sensor information associated with a plurality of sensors located at the premises, receiving, by the computing device, first sensor data from a first security sensor of the plurality of sensors, receiving, by the computing device, second sensor data from a second security sensor of the plurality of sensors, and in response to determining, by the computing device and based on the sensor information, that the first sensor data is associated with a higher priority than the second sensor data processing, by the computing device, the first sensor data, and transmitting, by the computing device, the second sensor data to a remote computing device for processing, wherein the remote computing device is at a location different from the premises.

Abstract: An apparatus for a host vehicle comprises an input for receiving a signal indicative of a target object, an output for transmitting at least one of an acceleration message, an engine control message and a transmission control message and a processor having control logic. The control logic transmits the acceleration message to request a negative acceleration of a host vehicle in response to a signal indicating a detected target object in order to maintain a predetermined following time behind the detected target object and transmits a transmission control message to request the transmission to shift to neutral in response to the negative acceleration having a value less than a predetermined negative acceleration value.

Abstract: There is obtained an automatic transmission control apparatus that makes it possible that even when an abnormality occurs in a sensor for detecting a motor rotation angle or the like, control of an automatic transmission is appropriately performed. Inputted first, second, and third detection signals are compared with one another; it is determined that at least two detection signals, out of these detection signals, that coincide with each other are normal and another detection signal is abnormal; then, based on the result of the determination, switching of the ranges of the automatic transmission is controlled.

Abstract: A system and method of controlling the operation of a transmission using fuel consumption data. The system and method includes controlling the operation of a vehicle transmission which is operatively connected to an engine having operating characteristics and operatively connected to a transmission control module having access to a memory. Fuel consumption data for an engine is converted to engine efficiency loss data representative of the engine operating. A set of equations is determined to provide a pattern representative of the operating characteristics the engine. A transmission controller using the pattern determines a prospective operating condition of the transmission to provide fuel efficient operation of the engine.

Abstract: A vehicle having a drivetrain is controlled based on a difference between a torque transmitted by the drivetrain when the vehicle has constant non-zero speed and the torque transmitted by the drivetrain when the vehicle is accelerating. The drivetrain torque may be measured by a drivetrain torque sensor. The effective vehicle mass is computed from the torque difference. The computed mass of the vehicle is used to adjust the activation of a collision warning system or a collision avoidance system. A method of operating a vehicle where the activation of a collision avoidance system is adjusted based on a difference between a torque transmitted by a drivetrain when the vehicle has constant non-zero speed and the torque transmitted by the drivetrain when the vehicle is accelerating is disclosed. The torque difference is used to compute a vehicle mass that is used to adjust a collision warning distance.

Abstract: A vehicle includes a gear shifter operable to shift a manual transmission. An actuator is connected to the shifter and actuatable to bias the shifter to at least a first or second neutral position. The vehicle further includes a controller configured to bias the shifter, via the actuator, to one of the neutral positions based on a speed of the vehicle.

Abstract: A CPU drives an inverter based on a command rotation speed that is inputted from a higher level ECU at a predetermined update interval. The CPU acquires an actual rotation speed of the electric motor, and calculates an accelerated rate and a decelerated rate based on the update interval and a difference between the actual rotation speed and the command rotation speed such that the actual rotation speed changes without reaching the command rotation speed and becoming constant before an end of the update interval. The CPU drives the inverter such that the electric motor rotates at the calculated rate.

Abstract: A vehicle control apparatus detects an object in a travel direction of a vehicle. The vehicle control apparatus restrains a drive force of the vehicle when an object is detected. The vehicle control apparatus acquires a jerk in a travel direction on the basis of a behavior of the vehicle. When an accelerator of the vehicle is actuated while the vehicle is in a state in which the drive force of the vehicle is restrained, and a speed of the vehicle is lower than a predetermined value. The vehicle control apparatus increases the drive force, and decreases a post-increase drive force on the basis of the acquired jerk.

Abstract: A powertrain assembly includes a continuously variable transmission having a variator, an input member, an output member and a torque converter clutch. An input sensor configured to receive a signal from the input member. An output sensor is configured to receive a signal from the output member. The assembly includes a controller having a processor and tangible, non-transitory memory on which is recorded instructions for executing a method of controlling the continuously variable transmission. If the torque converter clutch is locked, the controller is programmed to obtain respective readings at predefined time intervals which are collected for the respective signals from the input sensor and the output sensor, until a predefined time window is reached. First and second fast Fourier transforms are obtained of the respective signals. The continuously variable transmission is controlled based at least partially on the first and second fast Fourier transforms.

Abstract: A vehicle-mounted device control system includes a first vehicle-mounted device, a second vehicle-mounted device, and a control unit connected to the first vehicle-mounted device and the second vehicle-mounted device. The control unit includes signal transmission means that transmits a predetermined signal to the first vehicle-mounted device, cooperative control means that performs cooperative control in which the second vehicle-mounted device is controlled using information used by the first vehicle-mounted device when the first vehicle-mounted device responds to the predetermined signal, and alternative control means that performs alternative control in which the second vehicle-mounted device is controlled without using information, used by the first vehicle-mounted device, when the first vehicle-mounted device does not respond to the predetermined signal.

Abstract: A control system for a vehicle, such as an off-road recreational vehicle, that includes a powertrain and an accessory. The control system includes an actuator, such as a paddle shifter, configured to operate in a powertrain mode to control an aspect of the powertrain, and to operate in an accessory mode to control an aspect of the accessory. The control system also includes a selector configured to switch the actuator between the powertrain mode and the accessory mode.

Abstract: A method for adjusting clutch fill command pressure for a transmission using a lubrication compensator model includes determining clutch fill line pressure and lubrication compensator model pressures, and adjusting the clutch fill command pressure to achieve the lubrication compensator model pressure based on the torque converter clutch status.

Abstract: The system for reprogramming a plurality of control units includes a first control unit and a second control unit connected by one CAN bus, and a diagnosing unit. The diagnosing unit includes a first controller configured to reprogram the first control unit and a second controller configured to reprogram the second control unit. The diagnosing unit is configured to perform bidirectional reprogramming for the first control unit and the second control unit while sharing information between the first controller and the second controller.

Abstract: According to some aspects, methods and systems are presented to reduce noise, vibration, and harshness during start or restart of an engine. In some embodiments, a torque source such as an electric machine provides a torque to an internal combustion engine during restart to counteract vibrations of the system caused by the output torque of the internal combustion engine. The torque provided by the torque source can be expressed as a sum of a non-linear component and an input shaped component. A perturbation technique can be utilized for separating the scales and isolating the non-linear response of the system. Command shaping can be applied to the remaining, linear response of the system. Parameters used in the modeling of the internal combustion engine and the system may be pre-determined based on vehicle design and operating conditions, or may be iteratively estimated based on previous restarts during vehicle operation.

Abstract: A transmission including a variator capable of continuously changing a speed ratio, a stepped transmission mechanism arranged in series with the variator and in which a gear position is switched and a shilling control unit executing stepped shifting repeatedly performing a shifting suppression phase and an upshift phase when a stepped upshift shifting condition is satisfied is provided, and the shifting control unit completes a change from an n-th gear position of the stepped transmission mechanism to an n+1 gear position if the stepped transmission mechanism is at the n-th gear position before the through speed ratio reaches a Highest speed ratio of the variator when the stepped shifting is performed.

Abstract: Transmissions and dropbox assemblies for transmissions of work vehicles are provided. A dropbox assembly includes a dropbox housing defining an interior, and a gear assembly disposed within the interior of the dropbox housing. The gear assembly includes an input gear and an output gear. The dropbox assembly further includes an output shaft coupled to and rotatable with the output gear, and a pump mounted to the dropbox housing. The pump includes a pump housing disposed exterior to the dropbox housing and a pump shaft, the pump shaft coupled to and rotatable with the output shaft.

Abstract: A motor vehicle propulsion system, an engine control system, and a method for starting an engine of a motor vehicle system are provided, which are configured to request an engine restart after stopping the engine, decrease a K-factor in a torque converter coupling within 1.5 seconds of requesting the engine restart, and to increase the K-factor in the torque converter coupling to minimize the lash and disturbance between interconnecting components in a vehicle system during negative torque vehicle driving to positive torque propulsion system driving transitions where a torque converter exists.

Abstract: An information collection system is configured to collect information related to a bicycle. The information collection system is basically provided with a shift position information acquisition unit and a first controller. The shift position information acquisition unit is configured to acquire shift position information related to a bicycle transmission apparatus having a plurality of shift positions. The first controller is programmed to transmit the shift position information acquired during a certain period.

Abstract: An electronic control unit performs lockup clutch engagement control in the sequence of fast fill control, constant-pressure standby control and command pressure raising control, and starts the lockup clutch engagement control from that one of the fast fill control and the command pressure raising control which is later in sequence than the other, as a command pressure for a control oil pressure at a transition time point for making a transition to the lockup clutch engagement control rises, in making the transition to the lockup clutch engagement control during the lockup clutch release control. Therefore, when the command pressure for the control oil pressure is equal to or higher than a predetermined value that is needed to carry out packing for narrowing a pack clearance of a lockup clutch, the lockup clutch engagement control is started from the command pressure raising control.

Abstract: A compressor control apparatus may include a data detector detecting status data including at least one of vehicle speed, engine speed, accelerator pedal location value, and slope way measurement value; and controller that determines whether engine speed and accelerator pedal location value of the status data satisfy oscillation acceleration entering condition, if the vehicle speed exists in predetermined range and that sets basic operation rate of compressor according to the engine speed and the accelerator pedal location value, if engine speed and accelerator pedal location value of the status data satisfy oscillation acceleration entering condition and that generates final operation rate of the compressor using the basic operation rate, slope way constant according to the slope way measurement value, and air temperature compensation constant according to air temperature and that controls operation of the compressor based on the final operation rate.

Abstract: A power switch device provides and cuts off power supply to a load in which a MOSFET for causing a direct current power source to be connected and disconnected is provided between power supply lines and the direct current power source, located upstream of the power supply lines, the power supply lines including a ripple capacitor for stabilizing the supply voltage against fluctuations in the load current in the load, powered by the direct current power source. The power switch device is operated to transition power supply from opening to closing by gradually increasing the output voltage of the MOSFET to minimize the value of current charging the ripple capacitor.

Abstract: When a transmission controller issues a control command, such as pressure to control clutch torque, the response may be delayed due to dynamic properties of the control system. These properties can be modeled using a dynamic response model. One potential model is a combination of a pure time delay and a first order distributed delay. Control methods may be improved in several ways by accounting for the dynamic response. First, the dynamic response model may be used to improve adaptation of a transfer function between the commanded control signal and the clutch torque. Second, the command may be adjusted based on the dynamic response model. Both the pure time delay and the time constant of the first order distributed delay may be functions of operating conditions such as temperature.

Abstract: A method for controlling a vehicle power train that includes a heat engine connected to the transmission of the vehicle by a clutch controlled between an open position and a closed position of the transmission by a computer of the transmission exchanging information with a computer of the heat engine. The method includes sending, in order to shut down the engine before the clutch is opened when the vehicle is in motion, the kinematic chain being closed and the injection interrupted, a message from the computer of the transmission to the computer of the engine at a first moment in time so as to synchronize an opening of the clutch and the closure of an air flap of the engine at a second moment in time subsequent to the first moment.

Abstract: The present invention relates to a control system for a vehicle powertrain (3). The vehicle powertrain (3) includes a transmission (27), a launch control clutch (31), and a transfer case (39) selectively operable in a high range and a low range. The control system includes a monitor (53, 55) for monitoring one or more operating parameters of the launch control clutch (31) and/or the transmission (27). The control system comprises a controller (49) configured, in dependence on said monitoring means determining that said one or more operating parameters are above a predefined operating threshold or outside a predefined operating range, to output a notification to the user to select said low range; and/or to output a transfer case control signal to the transfer case (39) automatically to select said low range.

Abstract: A vehicle control system configured to suppress engine noise in an autonomous mode is provided. An operating mode of the vehicle can be switched between a manual mode in which a driving force and a braking force of the vehicle are controlled by a manual operation and an autonomous mode in which the driving force and the braking force of the vehicle are controlled autonomously. The vehicle control system is configured to shift an upshifting point for reducing a speed ratio of a transmission to a low speed side in the autonomous mode, in comparison with the upshifting point set in the manual mode.

Abstract: A method and apparatus is disclosed for determining the available gears of a geared vehicle based on the ratios of vehicle speed to engine speed, together with a method and apparatus for determining the current gear in which a geared vehicle is being driven based on the current ratio of vehicle speed to engine speed.

Abstract: A lock-up clutch control device is provided for a vehicle having a torque converter with a lock-up clutch disposed between an engine and a continuously variable transmission such that the occurrence of shocks during lock-up engagement is suppressed. The vehicle lock-up clutch control device is provided with a control unit that controls the lock-up capacity based on an engine torque signal when engaging the lock-up clutch. The control unit uses a predictive engine torque as the engine torque signal for use in the lock-up capacity control. The predictive engine torque is calculated based on an engine torque air response delay and a hydraulic response delay in the lock-up differential pressure and is faster in response than the actual engine torque.

Abstract: A method and an apparatus for learning linearity error of a hydraulic pressure sensor for a hydraulic clutch are disclosed. An apparatus for learning linearity error of a hydraulic pressure sensor for a hydraulic clutch may include: a gear stage sensor detecting a gear stage that is currently engaged; a controller executed by a predetermined program to learn the linearity error of the hydraulic pressure sensor based on signals of the gear stage sensor and the hydraulic pressure sensor; and a solenoid valve applying hydraulic pressure for learning the linearity error of the hydraulic pressure sensor to the hydraulic clutch based on a learning command of the controller.

Abstract: A method for operating a driveline of a vehicle includes adjusting operation of an electric machine to provide a torque difference between a driver demand torque and an engine output torque, when the electric machine is not operating in an operating range in which electric machine efficiency is less than a threshold efficiency. The operating range has a first, positive torque limit defining a positive extent of the operating range and a second, negative torque limit defining a negative extent of the operating range. In response to the torque difference being within the operating range and greater than zero, the torque output of the electric machine is maintained at the first torque limit, whereas in response to the torque difference being within the operating range and less than zero, the torque output of the electric machine is maintained at the second torque limit.

Abstract: A control apparatus of a vehicle obtains information indicating a relationship between an instruction value to be provided to an actuator in accordance with a driving condition of a vehicle and a torque capacity of a clutch. The control apparatus includes a table holding unit that stores a correction table to be applied under a condition when an output torque from the engine is increasing and a correction table to be applied under a condition when an output torque from the engine is decreasing, a gear change condition determining unit that determines under which condition a gear change is executed, and a correction table update unit that updates the correction table to be applied under the determined condition based on the information indicating a relationship between a target value and an actual value of the torque capacity generated at the inertia phase.

Abstract: The apparatus suppresses manual shifting options in an electronically controlled automatic transmission with a manual mode in the active transportation mode of a motor vehicle by appropriate programming of an electronic transmission control unit. The transmission can be operated only in the automatic mode. Preferably, only the forward gears can be selected in this case, the weakest shift element, in particular the weakest brake or clutch in an automatic transmission, always being closed in the forward gears.

Abstract: A method for intelligent active engine braking using full authority active fuel management based on vehicle speed and brake pedal position. The method includes determining if the tow mode of the vehicle has been selected and enables all engine cylinders to ensure maximum engine braking capacity is available. When vehicle tow mode is not selected then the method varies engine braking capacity by disabling one or more cylinders based on the vehicle speed and brake pedal position.

Abstract: Systems and methods for operating a transmission of a hybrid powertrain that includes a motor/generator are described. The systems and methods may classify transmission degradation in response to an estimated transmission input shaft speed that is determined from transmission output shaft speed. In one example, transmission degradation may be correctable transmission degradation, partial transmission degradation, and continuous transmission degradation.

Abstract: A hybrid vehicle control device is provided with at least one controller that controls the outputs of the engine and of the motor according to the driving state, the engagement and disengagement of the clutch, and the transmission ratio of the continuously variable transmission. The at least one controller is programmed to start the engine and forcibly downshift the continuously variable transmission to a transmission ratio with which it is possible to start on an uphill road upon determining that the vehicle is on an uphill road while in an electric vehicle mode in which it is possible to travel by the drive force of the motor with the clutch released and the engine stopped.

Abstract: A method of controlling a machine is disclosed. The method includes receiving signals indicative of multiple operating parameters of the machine. The method further includes determining a current machine operating pattern based on the multiple operating parameters. The method further includes comparing the determined current machine operating pattern with reference to a plurality of predefined machine operating patterns and controlling at least one of a speed of an engine and an output speed of a variable speed member based on the comparison of the determined current machine operating pattern. The variable speed member is drivably coupled to the engine of the machine.

Abstract: A bicycle shifting control apparatus comprises a transmission controller and a speed changing part. The transmission controller is configured to control a bicycle transmission with an operating speed. The speed changing part is configured to change the operating speed of the bicycle transmission based on input information.

Abstract: A method for controlling the speed of vehicle is provided. The method comprises providing a memory device configured to store a plurality of predefined set-speeds therein. The method further comprises selecting a desired set-speed from the plurality of predefined set-speeds stored in the memory device. The method may further comprise determining whether the selected set-speed is appropriate based on one or more conditions. The method may still further comprise causing the vehicle to operate in accordance with the selected set-speed when it is determined that the set-speed is appropriate. A system comprising a memory device configured to store a plurality of predefined set-speeds, and electronic control unit configured to select a desired one of the predefined set-speeds stored in the memory is also provided.

Abstract: A transmission for a vehicle includes a plurality of clutches that are individually selectively engaged to establish particular power flow paths. The amount of torque flowing through any clutch can be estimated while the clutch is being engaged, being disengaged, or being held locked. The estimated magnitude of clutch torque aids in proper control of the transmission, including how and when to shift between gears. A method and system for determining the uncertainty of estimated clutch torque is provided. Based on the magnitude of uncertainty of estimated clutch torque, the shift schedule can alter to specifically avoid actions that would increase the uncertainty, or the time between shifting gears can increase to reduce the effects of the uncertainty.

Abstract: When an alternator load torque Talt is larger than a threshold ?, a lockup clutch is released. Thus, a deceleration G can be restrained from becoming too large due to the alternator load torque Talt. Besides, the threshold ? is changed in accordance with a speed ratio ? of a continuously variable transmission. Thus, the deceleration G can be favorably controlled within a predetermined range. For example, in a vehicle state where a deceleration is unlikely to be achieved due to the smallness of the speed ratio ?, the threshold ? is large. Therefore, the lockup clutch is unlikely to be released, and the deceleration G is likely to be secured.

Abstract: An apparatus for controlling a hybrid vehicle may include an engine that generates driving torque by combustion of fuel; an integrated starter-generator that starts the engine and generates electrical energy by selectively operating as a power generator; a drive motor that supports the power of the engine and generates electrical energy by selectively operating as a power generator; a battery that charges with the electrical energy generated by the integrated starter-generator and the drive motor; a nitrogen oxide purification device (LNT) that purifies nitrogen oxide included in exhaust gas exhausted from the engine; and a controller that controls engine torque by calculating a target engine torque for regenerating the nitrogen oxide purification device, supports the engine torque through the integrated starter-generator or the drive motor when a driving torque necessary for driving is greater than the target engine torque at a regeneration mode of the nitrogen oxide purification device, and performs regener

Abstract: The present disclosure relates to a method of controlling a vehicle. The method includes receiving a signal indicative of the vehicle being in a stop condition or in the process of stopping. The method also includes activating an auxiliary hydraulic pressurization system in response to the signal and regulating a hydraulic pressure in a hydraulic control system of a transmission. A drive unit is disabled such that a main pump of the hydraulic control system discontinues providing hydraulic pressure to the hydraulic control system. The hydraulic pressure is maintained at a hold pressure in the hydraulic control system by the auxiliary hydraulic pressurization system.

Abstract: A fixed-gear transmission including a plurality of planetary gear sets and a plurality of clutches is described. A method for controlling the fixed-gear transmission includes commanding a first iteration of a skip-at-sync transmission shift and monitoring clutch slip of an oncoming holding clutch associated with the skip-at-sync transmission shift during execution of the shift, which includes monitoring synchronization of the on-coming holding clutch and a maximum clutch slip overshoot value. A progressive clutch pressure ramp rate for the oncoming holding clutch is adaptively controlled in response to the clutch synchronization of the on-coming hold clutch during execution of a subsequent iteration of the skip-at-sync transmission shift.

Abstract: An apparatus and method for guiding inertia driving of a manual transmission vehicle is provided to maximally extend a no-load driving state with an inertia driving state by blocking a power transmission path of a drive train. The apparatus includes a user selection switch operated to select a coasting mode and a display unit configured to display an entrance enabled state to an inertia driving mode to allow the entrance enabled state to be visually recognized. In addition, a controller is configured to receive an operation signal of the user selection switch and display the entrance enabled state to the inertia driving mode on the display unit to induce the inertia driving mode selection.

Abstract: A controlling apparatus and method for an electric drive transmission used in a dual-motor electric vehicle are disclosed, wherein when the second motor is in the zero torque state, the synchronizer is shifted to a neutral position, the second motor the required torque being kept to be zero; after shifted to the neutral position, if the target gear position is the neutral position, gearshifting is completed, an if the target gear position is not the neutral position, speed control to the second motor is conducted to adjust its speed towards a target speed; once the second motor is adjusted to the target speed, the second motor is subjected to zero torque control, the second motor the required torque being zero; once the second motor comes into a zero torque state, the synchronizer is shifted to a target gear position, the required torque of the second motor being kept to be zero; once the synchronizer is located in the target gear position, the required torque of the second motor changes towards a target valu

Abstract: A control strategy for a hybrid electric vehicle powertrain having an engine, a motor, and a transmission includes operating the powertrain according to a motor power loss term that is adapted based on battery power supplied to the motor, motor power output, and an estimated motor power loss such that the motor power loss term changes over time and converges to a constant value to thereby be indicative of actual motor power loss.

Abstract: A control system for a vehicle operable to implement a speed control function, the control system comprising: means for receiving a user input of a target speed at which the vehicle is intended to travel; target speed torque determining means for determining an instantaneous value of torque, target speed torque, that should be applied to one or more wheels of the vehicle by a powertrain in order to control the vehicle to travel at the target speed; and filter means operable to filter the value of target speed torque to generate a filtered torque value, the system being operable to command the powertrain to apply to the one or more wheels an amount of torque corresponding to the filtered torque value, wherein the system further comprises modifier means operable to receive the instantaneous value of target speed torque generated by the target speed torque determining means and to input to the filter means a value of torque that is less than the target speed torque in dependence on a current speed of the vehicle