Pedal control system for a vehicle

An adaptive pedal feeling system for a vehicle for adapting the resistance of the pedal of a vehicle in dependence upon driving conditions, where the vehicle receives at least one vehicle operating parameter and determines a vehicle operating condition from the operating parameter, the vehicle operating condition being related to a vehicle adherence condition; the system then outputting a control signal, the control signal being arranged to adapt the behaviour of the pedal in response to the determined vehicle operating condition.