A controller for a motorised vehicle is provided which is arranged to receive control signals from a user input device and the controller is configured to control a motor arrangement of the motorised vehicle in dependence on the control signals. The controller comprises an acceleration control unit configured to determine a centripetal force factor corresponding to a centripetal force which is currently acting on said motorised vehicle as a result of the control signals and is configured to calculate an acceleration limit for the motorised vehicle in dependence on the centripetal force factor. The acceleration control unit is configured to apply the acceleration limit by modifying a response of the controller to the control signals, such that the motorised vehicle does not exceed the acceleration limit.