Diagnostic supervisor to determine if a traction system is in a fault condition

A vehicle control system comprising:

• a controller comprising:
• a first input configured to receive a steering control input to control a steered wheel of a vehicle,
• a second input configured to receive a measured value of a traction control attribute related to a traction wheel of the vehicle, and
• a third input configured to receive a traction speed control input to control the traction wheel of the vehicle;
• a memory coupled with the controller and storing code executable by the controller;
• the executable code comprising a steering application configured to:
• receive the steering control input to control the steered wheel of the vehicle, and
• determine, based on the steering control input, a traction threshold value associated with the traction control attribute related to the traction wheel of the vehicle;
• and
• the executable code comprising a diagnostic supervisor configured to:
• a) receive:
• a measured value of the traction control attribute, and
• the traction threshold value;
• b) repeatedly calculate, when the measured value of the traction control attribute exceeds the traction threshold value, and a respective difference between the traction threshold value and the measured value of the traction control attribute, to generate a set comprising a plurality of the respective differences;
• and
• c) determine, based on the plurality of respective differences, a first operating condition of a traction system of the vehicle.