US Patent 9849879 Vehicle speed control

A vehicle speed control system that carries out a method of: automatically causing application of positive and negative torque to one or more wheels of a vehicle to cause a vehicle to travel in accordance with a target speed value v_target; controlling a rate of change of speed of the vehicle by application of positive and negative torque to one or more wheels; and receiving information relating to a terrain response mode in which the vehicle is configured or an amount of drag imposed on a vehicle. The system is configured to control the rate of change of speed in dependence at least in part on the terrain response mode, the amount of drag imposed on the vehicle, or both.