A vehicle includes a continuously variable transmission by means of which torque is transmitted from an engine to drive wheels of the vehicle, a braking system for applying a braking force to the drive wheels and a controller for setting the transmission ratio of the transmission. Additionally, means are provided for applying to the controller a signal indicative of the engine applied torque, and means for supplying to the controller a signal to indicate application of wheel brakes. The controller is operative when the brakes are applied to discontinue setting the transmission ratio in dependence upon the speed of the drive wheels and to set the transmission ratio instead in such a manner as to minimize the absolute value of the engine output torque or the torque transmitted through the transmission or to follow a desired torque setpoint.