A controller is configured to output a control command for controlling at least one driveline component according to a control map. The control map may define a dependence of the control command on at least one of: a control position of an input device, and at least one first condition of the driveline. The controller may also be configured to receive at least one input signal, the input signal may have a plurality of signal values recorded at different times. The signal values of the at least one input signal are indicative of at least one of: the control position of the input device, the at least one first condition of the driveline, and at least one second condition of the driveline. The controller may also be configured to derive a feature from the plurality of signal values and adapt the control map based on the derived feature.