Vehicle and method of controlling a vehicle

A controller (40), method of control, and motor vehicle (1) are provided. The controller (40) is for controlling a driveline (105,5) of a motor vehicle (1) to transition between first and second modes of operation, wherein a first group of one or more wheels and not a second group of one or more wheels is connected to a torque transmission (118) path from the prime mover means when the driveline (105,5) is in the first mode of operation and both the first and second groups of one or more wheels are connected to the torque transmission (118) path when the driveline (105,5) is in the second mode of operation, wherein the second group of one or more wheels is connected to the torque transmission (118) path by means of an auxiliary portion (10,110) comprising first and second releasable torque transmitting means and a prop shaft (123,23), the first releasable torque transmitting means being operable to connect a first end of the prop shaft (123,23) to the torque transmission (118) path, the second releasable torque transmitting means being operable to connect a second end of the prop shaft (123,23) to the second group of one or more wheels. The controller is configured to: control the auxiliary portion (10,110) to switch the driveline (105,5) between the first and second modes of operation such that in the first mode the prop shaft (123,23) is disconnected from both the torque transmission (118) path and said second group of one or more wheels; control the driveline (105,5) to transition from the first mode to the second mode when a second mode trigger condition is met, the second mode trigger condition including the requirement that the magnitude of the value of a vehicle (101,1) operating parameter of a first set of one or more vehicle (101,1) operating parameters is less than or greater than a first threshold (A1, T2) value; and control the driveline (105,5) to subsequently transition from the second mode to the first mode when a first mode trigger condition is met, the first mode trigger condition including the requirement that the magnitude of the value of said vehicle (101,1) operating parameter of the first set is greater than or less than a second threshold (A1, T2) value, the second threshold (A1, T2) value having a value different from the first threshold (A1, T2) value, wherein values of the first and/or second threshold (A1, T2) values are responsive to a value of a vehicle (101,1) operating temperature parameter.