System and method for compensating wheel speed sensor signal latency

A wheel speed system comprising:

• a wheel speed sensor configured to generate pulses based on teeth, respectively, that rotate with a wheel of a vehicle passing the wheel speed sensor,
• the pulses including a first pulse at a first time and a second pulse at a second time, the first time closer to a present time than the second time;
• a wheel speed module configured to:
• receive the first and second pulses;
• retrieve from memory a previous compensated wheel speed of the wheel determined for the second time;
• determine a measured wheel speed at the first time and a previous measured wheel speed at the second time based on the first and second pulses;
• and
• determine a present compensated wheel speed for the first time based on (a) the measured wheel speed at the first time, (b) the previous compensated wheel speed for the second time and (c) a measurement latency of the wheel speed sensor;
• and
• a control module configured to actuate an actuator of the vehicle based on the present compensated wheel speed.