US Patent 10507841 System and method for sensor diagnostics

A method of controlling a ground vehicle includes providing the vehicle with a first sensor configured to detect a vehicle position, a second sensor configured to detect a driven path of the vehicle, and a controller. The method also includes obtaining, via the first sensor, a plurality of vehicle position coordinates during a time interval of a drive cycle, and calculating, via the controller, a first path curvature parameter based on the plurality of vehicle position coordinates. The method additionally includes obtaining, via the second sensor, a second path curvature parameter based on the driven path during the time interval. The method further includes comparing, via the controller, the first path curvature parameter to the second path curvature parameter, and in response to a difference between the second path curvature and the first path curvature exceeding a threshold, automatically operating the controller according to a diagnostic mode.