APPARATUS AND METHOD FOR CONTROLLING AN ELECTRIC MACHINE OF A VEHICLE

Embodiments of the present invention provide an electric machine control system for a vehicle, the electric machine control system comprising one or more controllers, wherein the vehicle comprises an electric machine arranged to be selectively coupleable to provide torque to at least one wheel of an axle of the vehicle, the control system comprising input means arranged to receive a speed signal () indicative of a speed of the vehicle and a status signal () indicative of a status of a coupling of the electric machine to the at least one wheel of an axle of the vehicle, output means () arranged to output a coupling signal to control coupling of the electric machine to the at least one wheel of the axle, and processing means arranged to determine () a coupling state of the electric machine to the at least one wheel of the axle and to control the output means to output () a coupling signal indicative of the determined coupling state, wherein the processing means is arranged, in dependence on the status signal being indicative of a failure () to change the coupling state of the electric machine to the at least one wheel of the axle in dependence on a change in the determined coupling state, to control the output means to output the coupling signal () indicative of a retry () of the change in the coupling state in dependence on the speed signal.