A controller for a vehicle having a continuous track for vehicle propulsion. The controller is programmed to: process (i) a speed value indicative of a speed at which the vehicle is being driven; and (ii) a time value indicative of a period of time for which the vehicle has been driven at that speed; determine an overheating parameter value based on the speed value and the time value; compare the overheating parameter value with a threshold value, wherein the threshold value is representative of undesirable operation for the continuous track; and generate an output signal for the vehicle in accordance with a result of the comparison of the overheating parameter value with the threshold value.