A vehicle drive control system for a vehicle having a first drive system including a first battery bank and a second drive system including a second battery bank , comprising: at least one controller configured to: receive a torque input command, receive at least one vehicle characteristic, provide a first torque output command to the first drive system to provide a first torque output, provide a second torque output command to the second drive system to provide a second torque output; a first connector operably coupled to the controller and adapted to be operably coupled to a first communication network connecting the first drive system to the at least one controller ; and a second connector operably coupled to the controller and adapted to be operably coupled to a second communication network connecting the second drive system and the at least one controller , characterised in that the at least one controller is configured to: receive an indication of a state of charge of the first battery bank of the first drive system and an indication of a state of charge of the second battery bank of the second drive system , and alter at least one of the first torque output command or the second torque output command based on a charge difference between the state of charge of the first battery bank (220 and the state of charge of the second battery bank being greater than a predetermined threshold. at least one controller configured to: receive a torque input command, receive at least one vehicle characteristic, provide a first torque output command to the first drive system to provide a first torque output, provide a second torque output command to the second drive system to provide a second torque output; receive a torque input command, receive at least one vehicle characteristic, provide a first torque output command to the first drive system to provide a first torque output, provide a second torque output command to the second drive system to provide a second torque output; a first connector operably coupled to the controller and adapted to be operably coupled to a first communication network connecting the first drive system to the at least one controller ; and a second connector operably coupled to the controller and adapted to be operably coupled to a second communication network connecting the second drive system and the at least one controller , characterised in that the at least one controller is configured to: receive an indication of a state of charge of the first battery bank of the first drive system and an indication of a state of charge of the second battery bank of the second drive system , and alter at least one of the first torque output command or the second torque output command based on a charge difference between the state of charge of the first battery bank (220 and the state of charge of the second battery bank being greater than a predetermined threshold. receive an indication of a state of charge of the first battery bank of the first drive system and an indication of a state of charge of the second battery bank of the second drive system , and alter at least one of the first torque output command or the second torque output command based on a charge difference between the state of charge of the first battery bank (220 and the state of charge of the second battery bank being greater than a predetermined threshold. <EOS>