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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 a movement sensor for detecting movement of the vehicle. The system comprises a brake actuator for actuating the brakes to supply a braking effort and a bra

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 a movement sensor for detecting movement of the vehicle. The system comprises a brake actuator for actuating the brakes to supply a braking effort and a brake controller for controlling the brake actuator. The brake controller is configured to determine an acceleration of the vehicle based on movement detected by the movement sensor and to ensure that the brake actuator supplies a braking effort if the determined acceleration exceeds a set acceleration limit.

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1. 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 e

1. 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; andbrake control means for controlling the brake actuation means, wherein the brake control means is configured 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;a user operable accelerator pedal;wherein the system determines a desired drive torque in dependence on an instantaneous accelerator pedal position relating to a user operation of said accelerator pedal; andwherein the brake control means of the system is configured to set the acceleration limit dynamically based on the determined desired drive torque and in dependence on a gradient of the vehicle, to lower said set acceleration limit in response to an increased gradient of the vehicle, and to increase the set acceleration limit with increasing determined desired drive torque. 2. The brake control system of claim 1, wherein the brake control means is configured to set the acceleration limit dynamically based on one or both of one or more vehicle conditions and driver input. 3. The brake control system of claim 1, wherein the control means is configured to set the acceleration limit independently of the signal of an accelerator pedal position sensor of the vehicle if the vehicle is in neutral. 4. The brake control system of claim 1, wherein the brake control means is configured 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. 5. The brake control system of claim 1, further comprising gradient sensing means and wherein the gradient of the vehicle is detected by said gradient sensing means. 6. 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 the comprises: brake actuation means for actuating the brakes to supply a braking effort; andbrake control means for controlling the brake actuation means, wherein the brake control means is configured 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;a user operable accelerator pedal;wherein the system determines a desired drive torque in dependence on an instantaneous accelerator pedal position relating to a user operation of said accelerator pedal; andwherein the brake control means of the system is configured to set the acceleration limit dynamically based on the determined desired drive torque and in dependence on a gradient of the vehicle, to lower said set acceleration limit in response to an increased gradient of the vehicle, and to increase the set acceleration limit with increasing determined desired drive torque. 7. A method of operating a brake control system for a motor vehicle having a plurality of wheels and brakes for applying a braking effort to one or more of the wheels, the method comprising: detecting movement of the vehicle using at least one sensor;determining an acceleration of the vehicle based on the detected movement;determining a desired drive torque in dependence on an instantaneous accelerator pedal position relating to a user operation of an accelerator pedal in the vehicle;setting an acceleration limit dynamically based on the determined desired drive torque and in dependence on a gradient of the vehicle;increasing the set acceleration limit when the determined desired drive torque increases;lowering the acceleration limit in response to detecting an increased gradient of the vehicle; andapplying the brakes if the determined acceleration exceeds the set acceleration limit. 8. The method set forth in claim 7, wherein the step of determining a desired drive torque further comprises determining a desired acceleration associated with the desired drive torque, and wherein the step of setting the acceleration limit further comprises setting the acceleration limit at a threshold equal to or above the desired acceleration. 9. The method set forth in claim 7, wherein the step of setting the acceleration limit further comprises setting the acceleration limit dynamically based on the determined desired drive torque when a vehicle gear is selected, and wherein the method further comprises the step of setting the acceleration limit independently of the accelerator pedal position when the vehicle is in neutral. 10. The method set forth in claim 7, wherein the step of setting the acceleration limit further comprises setting the acceleration limit dynamically based on one or both of one or more vehicle conditions and driver input.