Estimating and correcting bias in vehicle motion control

A vehicle comprises: an advanced driver assistance system (ADAS) generating a command for an aspect of vehicle motion; an actuator for controlling the aspect of the vehicle motion, the actuator connected to the ADAS; and a bias estimator circuit that estimates a bias between the command for the aspect of vehicle motion and an effective vehicle motion aspect, the bias estimator circuit estimating the bias using an operator that predicts a next timestep of nonlinear functions of vehicle state, wherein the command for the aspect of vehicle motion is corrected using the bias estimated by the bias estimator circuit to provide a corrected command for the aspect of vehicle motion for use by the actuator.