A method includes receiving, by a controller, information indicative of a temperature of an aftertreatment system of the vehicle and an exhaust gas characteristic. The method includes comparing, by the controller, the temperature of the aftertreatment system to a temperature threshold, and comparing, by the controller, the exhaust gas characteristic to a characteristic threshold. The method includes, responsive to the comparisons, commanding, by the controller, an aftertreatment system heater to selectively engage or disengage to warm the aftertreatment system of the vehicle.