Exhaust gas sensor diagnosis and controls adaptation

A system for a vehicle, comprising:

• an engine including a fuel injection system;
• an exhaust gas sensor coupled in an exhaust gas system of the engine, the exhaust gas sensor having an anticipatory controller;
• and
• a controller including instructions executable to adjust one or more parameters of the anticipatory controller responsive to degradation of the exhaust gas sensor, wherein an amount of adjusting is based on a magnitude and type of degradation behavior of the exhaust gas sensor, the type of degradation behavior including a filter degradation and a delay degradation, the filter degradation comprising feedback from the exhaust gas sensor transitioning with a response rate different than an expected response rate, and the delay degradation comprising the feedback transitioning at a time different than an expected time.