A vehicle comprising a foot well having a back wall, and a control system for the vehicle, the control system comprising an acceleration system and a braking system, the control system comprising a pedal configured to be operated by two feet of a user, such that a first foot can be used to pivot the pedal in a first direction and a second foot can be used to pivot the pedal in a second direction, the pedal having a control surface (2, 100) mounted in the foot well for pivoting movement about a fulcrum which partitions the control surface so that it has a first side and a second side, said control surface (2, 100) being pivotable through a range of movement between a position of maximum acceleration, in which the first side abuts the back wall of the foot well, and a position of maximum braking (2"), in which the second side abuts the back wall of the foot well, said control surface (2, 100) being connected to said acceleration system and said braking system so that pivoting of said control surface (2, 100) in the first direction causes acceleration of said vehicle and pivoting in the second direction causes braking, said control system further comprising a sensor for measuring a distance between a back of the control surface and the foot well or a pivotal extent of the control surface, and a controller for determining any change in the direction of pivoting of said control surface (2, 100) using the sensor measurement, said control system being adapted to alternate between braking and acceleration or vice versa on detecting said any change in the direction of pivoting of the control surface (2, 100), wherein the controller is configured to: upon detection of a change in the direction of pivoting of said control surface (2, 100) from the second direction to the first direction, use the sensor measurement to determine an available range of movement (HR, HM) in the first direction from the position where the control surface is first depressed in the first direction to the position of maximum acceleration, and to map the available range of movement (HR, HM) in the first direction onto a degree of acceleration so that the entire dynamic range of available acceleration is represented by the available range of movement (HR, HM) in the first direction; and upon detection of a change in the direction of pivoting of said control surface (2, 100) from the first direction to the second direction, use the sensor measurement to determine an available range of movement (HR, HM) in the second direction from the position where the control surface is first depressed in the second direction to the position of maximum braking (2"), and to map the available range of movement (HR, HM) in the second direction onto a degree of braking so that the entire dynamic range of available braking is represented by the available range of movement (HR, HM) in the second direction. upon detection of a change in the direction of pivoting of said control surface (2, 100) from the second direction to the first direction, use the sensor measurement to determine an available range of movement (HR, HM) in the first direction from the position where the control surface is first depressed in the first direction to the position of maximum acceleration, and to map the available range of movement (HR, HM) in the first direction onto a degree of acceleration so that the entire dynamic range of available acceleration is represented by the available range of movement (HR, HM) in the first direction; and upon detection of a change in the direction of pivoting of said control surface (2, 100) from the first direction to the second direction, use the sensor measurement to determine an available range of movement (HR, HM) in the second direction from the position where the control surface is first depressed in the second direction to the position of maximum braking (2"), and to map the available range of movement (HR, HM) in the second direction onto a degree of braking so that the entire dynamic range of available braking is represented by the available range of movement (HR, HM) in the second direction.