METHOD FOR DETECTING OPERATIONAL STATE OF A STEERING SYSTEM

A method for performing roadwheel actuator (RWA) diagnosis to determine a RWA control capability status of a vehicle includes, using one or more processors, determining an expected cornering state of the vehicle by determining at least one of an expected yaw rate and an expected lateral acceleration of the vehicle, determining an actual cornering state of the vehicle, by determining at least one of an actual yaw rate and an actual lateral acceleration of the vehicle, determining a cornering state error based on the expected cornering state of the vehicle and the actual cornering state of the vehicle, determining the RWA control capability status based on the cornering state error, and controlling at least one function of the vehicle based on the RWA control capability status.