Determining estimated steering data for a vehicle

1. A system comprising:

one or more processors; and

one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:

receiving first sensor data from a ball joint sensor, the first sensor data being associated with an angle of a ball joint, which articulates when a suspension assembly of a vehicle moves along a displacement axis and relative to a chassis of the vehicle, the ball joint sensor comprising at least one of a hall effect sensor, a magnetic pickup, an optical sensor, or a potentiometer arranged in a ball socket of the ball joint;

receiving second sensor data comprising an output associated with a chassis position sensor;

determining, based on the output, an estimated displacement value associated with the suspension assembly and the chassis, wherein the estimated displacement value is a measure of a distance between a ground plane and a reference point on the vehicle;

determining, based on the angle and the estimated displacement value, estimated steering data;

receiving steering sensor data;

comparing, as a comparison, the estimated steering data to the steering sensor data; and

controlling an operation of the vehicle based at least in part on the comparison.

2. The system of claim 1 , wherein:

the steering sensor data comprises a rack travel distance;

the estimated steering data is an estimated rack travel distance; and

the comparing includes determining whether a difference between the estimated rack travel distance and the rack travel distance is less than or equal to a threshold.

3. The system of claim 2 , the operations further comprising:

receiving steering motor rotation data associated with a steering motor of the vehicle; and

determining the rack travel distance based on the steering motor rotation data.

4. The system of claim 1 , wherein at least a portion of the ball joint is offset from the displacement axis.

5. The system of claim 1 , further comprising the chassis position sensor coupled to a lower control arm via one or more linkages, wherein the output is based on a position of the one or more linkages.

6. A method comprising:

receiving, from a ball joint sensor, first sensor data being associated with an angle of a ball joint which articulates when a suspension assembly of a vehicle moves relative to a chassis of the vehicle, the ball joint sensor comprising at least one of a hall effect sensor, a magnetic pickup, an optical sensor, or a potentiometer arranged in a ball socket of the ball joint;

receiving second sensor data comprising an estimated displacement value associated with the suspension assembly and the chassis, wherein the estimated displacement value is a measure of a distance between a ground plane and a reference point on the vehicle;

determining, based on the angle and the estimated displacement value, estimated steering data; and

controlling, based at least in part on the estimated steering data, an operation of the vehicle.

7. The method of claim 6 , further comprising:

receiving an output associated with a chassis position sensor; and

determining, based on the output, the estimated displacement value.

8. The method of claim 7 , wherein the output is associated with an angle between linkages connecting a lower control arm of the suspension assembly to the chassis.

9. The method of claim 6 , wherein:

the estimated steering data includes an estimated rack travel distance; and

the method further comprises:

receiving steering sensor data associated with a rack travel distance; and

determining whether a difference between the estimated rack travel distance and the rack travel distance is less than or equal to a threshold.

10. The method of claim 6 , wherein the second sensor data comprises sensor data from at least one of a chassis position sensor, a lidar sensor, a camera, a time-of-flight sensor, and an inertial measurement unit (IMU).

11. The method of claim 6 , wherein:

the estimated steering data includes an estimated rotation value; and

the method further comprises:

receiving steering sensor data associated with a rotation value of a steering motor of the vehicle; and

determining whether a difference between the estimated rotation value and the rotation value is equal to or below a threshold.

12. The method of claim 11 , further comprising:

determining, based on the angle and the estimated displacement value an estimated rack travel distance; and

determining, based on the estimated rack travel distance, the estimated rotation value.

13. The method of claim 6 , further comprising:

receiving steering sensor data; and

determining that a difference between the estimated steering data and the steering sensor data is equal to or below a threshold, wherein the controlling the operation of the vehicle includes determining, based on the difference being equal to or below the threshold, a steering angle of the vehicle.

14. One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform operations comprising:

receiving, from a ball joint sensor, first sensor data being associated with an angle of a ball joint, which articulates when a suspension assembly of a vehicle moves relative to a chassis of the vehicle, the ball joint sensor comprising at least one of a hall effect sensor, a magnetic pickup, an optical sensor, or a potentiometer arranged in a ball socket of the ball joint;

receiving second sensor data comprising an estimated displacement value associated with the suspension assembly and the chassis, wherein the estimated displacement value is a measure of a distance between a ground plane and a reference point on the vehicle;

determining, based on the angle and the estimated displacement value, estimated steering data; and

controlling, based at least in part on the estimated steering data, an operation of the vehicle.

15. The one or more non-transitory computer-readable media of claim 14 , the operations further comprising:

receiving an output associated with a chassis position sensor, wherein the output is associated with an angle between linkages connecting a lower control arm of the suspension assembly to the chassis; and

determining, based on the output, the estimated displacement value.

16. The one or more non-transitory computer-readable media of claim 14 , the operations further comprising:

receiving steering sensor data; and

comparing, as a comparison, the estimated steering data to the steering sensor data, wherein the controlling the operation is based at least in part on the comparison.

17. The one or more non-transitory computer-readable media of claim 16 , wherein:

the steering sensor data comprises a rack travel distance;

the estimated steering data is an estimated rack travel distance; and

the comparing includes determining whether a difference between the estimated rack travel distance and the rack travel distance satisfies a threshold.

18. The one or more non-transitory computer-readable media of claim 17 , the operations further comprising:

receiving steering motor rotation data associated with a steering motor of the vehicle; and

determining the rack travel distance based on the steering motor rotation data.

19. The one or more non-transitory computer-readable media of claim 16 , wherein:

the steering sensor data comprises a rotation value associated with a steering motor of the vehicle;

the estimated steering data is an estimated rotation value; and

the comparing includes determining whether a difference between the estimated rotation value and the rotation value satisfies a threshold.

20. The system of claim 1 , wherein the estimated steering data and the steering sensor data are based on sensor data and represent a measured state of the vehicle.