Some embodiments of the present invention provide a system comprising: a first, controller operable to assume one of a plurality of respective states, in a first state the first controller being configured to generate a first controller powertrain signal in order to cause a powertrain to develop drive torque, and a first controller brake signal in order to cause application of a brake to one or more wheels, the first controller being configured to generate the first controller powertrain signal and first controller brake signal to cause a vehicle to operate in accordance with the target speed value, wherein when the first controller is in a predetermined one or more states the first controller is configured automatically to perform a brake wipe operation in which the first controller generates the first controller brake signal in dependence on one or more predetermined conditions while continuing to cause a vehicle to operate in accordance with the target speed value.