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A brake control system for a motor vehicle having a plurality of wheels, brakes for applying a braking effort to one or more of the wheels, and movement sensing means for detecting movement of the vehicle. The system comprises: brake actuation means for actuating the brakes to supply a braking effor

A brake control system for a motor vehicle having a plurality of wheels, brakes for applying a braking effort to one or more of the wheels, and movement sensing means for detecting movement of the vehicle. The system comprises: brake actuation means for actuating the brakes to supply a braking effort; and brake control means for controlling the brake actuation means, wherein the brake control means is arranged to determine an acceleration of the vehicle based on movement detected by the movement sensing means and to ensure that the brake actuation means supplies a braking effort if the determined acceleration exceeds a set acceleration limit.

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1. A method for controlling the brakes of a motor vehicle, the method comprising: determining whether the vehicle is travelling in an intended direction of travel or an unintended direction of travel with reference to a selected gear; setting an acceleration limit of the vehicle in dependence on the

1. A method for controlling the brakes of a motor vehicle, the method comprising: determining whether the vehicle is travelling in an intended direction of travel or an unintended direction of travel with reference to a selected gear; setting an acceleration limit of the vehicle in dependence on the determined direction of travel, with the acceleration limit being set lower when the vehicle is moving in an unintended direction than when the vehicle is moving in an intended direction; determining an acceleration of the vehicle; and, if the determined acceleration exceeds the set acceleration limit, ensuring that the brakes apply a braking effort. 2. The method of claim 1 comprising measuring a desired drive torque and setting the acceleration limit dynamically in dependence on the desired drive torque, and increasing the set acceleration limit with increasing desired drive torque. 3. The method of claim 1 wherein the acceleration limit is a set as a fixed value. 4. The method of claim 1 comprising detecting one or more vehicle conditions, driver input, or both, and setting the acceleration limit dynamically in dependence on the one or more vehicle conditions, driver input, or both. 5. The method of claim 1 comprising setting the acceleration limit independently of the signal of an accelerator pedal position sensor of the vehicle if the vehicle is in neutral. 6. The method of claim 1 comprising determining a desired drive torque and a desired acceleration associated with the desired drive torque, and setting the acceleration limit at a threshold equal to or above the determined desired acceleration. 7. The method of claim 1 comprising detecting a gradient of the vehicle, and setting the acceleration limit in dependence on the detected gradient of the vehicle. 8. A brake control system for a motor vehicle having a plurality of wheels, brakes for applying a braking effort to one or more of the wheels, and movement sensing means for detecting movement of the vehicle, the system comprising: brake actuation means for actuating the brakes to supply a braking effort; and brake control means for controlling the brake actuation means, wherein the brake control means is arranged: i) to determine an acceleration of the vehicle based on movement detected by the movement sensing means and to ensure that the brake actuation means supplies a braking effort if the determined acceleration exceeds a set acceleration limit; and ii) to measure a desired drive torque and to set the acceleration limit dynamically based on the desired drive torque and to increase the set acceleration limit with increasing desired drive torque; wherein the brake control means is arranged to set the acceleration limit in dependence on a gradient of the vehicle; andwherein the brake control means is arranged to lower said acceleration limit in response to an increased gradient of the vehicle. 9. A brake control system for a motor vehicle having a plurality of wheels, brakes for applying a braking effort to one or more of the wheels, and movement sensing means for detecting movement of the vehicle, the system comprising: brake actuation means for actuating the brakes to supply a braking effort; and brake control means for controlling the brake actuation means, wherein the brake control means is arranged to determine an acceleration of the vehicle based on movement detected by the movement sensing means and to ensure that the brake actuation means supplies a braking effort if the determined acceleration exceeds a set acceleration limit, wherein the brake control means is arranged to determine whether the vehicle is travelling in an intended direction or an unintended direction with reference to a selected gear and to set the acceleration limit in dependence on the direction of travel, with the acceleration limit being set lower when the vehicle is moving in an unintended direction than when the vehicle is moving in an intended direction. 10. A motor vehicle comprising a plurality of wheels, brakes for applying a braking effort to one or more of the wheels, movement sensing means for detecting movement of the vehicle, and a brake control system according to claim 9. 11. The brake control system of claim 9 wherein the control means is arranged to measure a desired drive torque and to set the acceleration limit dynamically based on the desired drive torque and to increase the set acceleration limit with increasing desired drive torque. 12. The brake control system of claim 9 having activated and deactivated states and wherein the brake control means is arranged to set the acceleration limit as a fixed value. 13. The brake control system of claim 9 wherein the brake control means is arranged to set the acceleration limit dynamically based on one or more vehicle conditions and/or driver input. 14. The brake control system of claim 9 wherein the control means is arranged to set the acceleration limit independently of the signal of an accelerator pedal position sensor of the vehicle if the vehicle is in neutral. 15. The brake control system of claim 9 wherein the brake control means is arranged to determine a desired acceleration associated with the desired drive torque and to set the acceleration limit at a threshold equal to or above the desired acceleration. 16. The brake control system of claim 9 wherein the brake control means is arranged to set the acceleration limit in dependence on a gradient of the vehicle. 17. The brake control system of claim 16 further comprising a gradient sensing means and wherein the gradient of the vehicle is detected by said gradient sensing means. 18. The brake control system of claim 17 wherein the brake control means is arranged to lower said acceleration limit in response to an increased gradient of the vehicle.