Determining vehicle wheel misalignment

1. A computer, comprising:

a processor and memory storing instructions executable by the processor, the instructions comprising, to:

receive sensor data from a sensor in a vehicle operating in a fully autonomous mode;

using the data, determine a misalignment value; and

based on the value, perform one of a plurality of vehicle driving functions, wherein the plurality includes:

slowing the vehicle according to a maximum speed threshold based on a first misalignment value,

stopping the vehicle based on a second, larger misalignment value, and

performing a different function based on a third misalignment value that is less than the first misalignment value.

2. The computer of claim 1 , wherein the maximum speed threshold is based on a calculated trend-line based on wheel misalignment error values and corresponding vehicle speed values.

3. The computer of claim 1 , wherein a trend-line is based on wheel misalignment error values and corresponding speed values which are both larger and smaller than a misalignment error threshold.

4. The computer of claim 3 , wherein the misalignment error threshold is larger than three standard deviations of a mean error.

5. The computer of claim 1 , wherein the plurality further comprises providing a notification to a user of the vehicle.

6. The computer of claim 1 , wherein the plurality further comprises sending a notification to a vehicle manufacturer or dealership.

7. The computer of claim 1 , wherein the plurality further comprises driving the vehicle in the mode to a vehicle service station.

8. The computer of claim 1 , wherein the plurality further comprises determining to maintain a current direction and/or rotational movement of vehicle wheels in the mode.

9. The computer of claim 1 , the instructions further comprising, prior to receiving data, to determine whether a signal carrying the data is currently available.

10. A system, comprising:

the computer of claim 1 ; and

a server programmed to at least partially determine the misalignment value.

11. A method, comprising:

receiving sensor data from a sensor in a vehicle operating in a fully autonomous mode;

using the data, determining a misalignment value; and

based on the value, performing one of a plurality of vehicle driving functions,

wherein the plurality includes:

slowing the vehicle according to a maximum speed threshold based on a first misalignment value,

stopping the vehicle based on a second, larger misalignment value, and

performing a different function based on a third misalignment value that is less than the first misalignment value.

12. The method of claim 11 , wherein the maximum speed threshold is based on a calculated trend-line that comprises wheel misalignment error values and corresponding vehicle speed values.

13. The method of claim 12 , wherein the calculated trend-line is based on wheel misalignment error values and corresponding speed values which are both larger and smaller than a misalignment error threshold.

14. The method of claim 11 , wherein the plurality further comprises: to provide a notification to a user of the vehicle, to send a notification to a vehicle manufacturer or dealership, to drive the vehicle in the mode to a vehicle service station, or to determine to maintain a current direction and/or rotational movement of vehicle wheels in the mode.

15. A method, comprising:

receiving sensor data from a sensor in a vehicle operating in a fully autonomous mode;

using the data, calculating a trend-line based on wheel misalignment error values and corresponding speed values; and

based on the calculation, slowing the vehicle to a maximum speed, the speed corresponding to a threshold misalignment value.