a controller operably coupled to components and/or sensors of the vehicle to receive information indicative of operational intent of an operator of the vehicle and information indicative of vehicle status;

a single pedal configured to provide the information indicative of operational intent; and

a torque control module configured to generate both a propulsive torque request and a braking torque request based on the information indicative of the operational intent and the information indicative of vehicle status,

wherein the information indicative of operational intent comprises pedal position of the single pedal and a rate of change of the pedal position,

wherein a propulsive torque determiner applies propulsive torque to one or more wheels of the vehicle based on the propulsive torque request, and

wherein the torque control module comprises the propulsive torque determiner configured to determine the propulsive torque request based on the pedal position, vehicle speed and vehicle pitch.