The present disclosure is directed to a vehicle dynamics monitor for an autonomous vehicle. In particular, the systems and methods of the present disclosure can determine, based on data received from one or more sensors of an autonomous vehicle, that an anomaly exists in an interface between at least one tire of the autonomous vehicle and a road surface. Responsive to determining that the anomaly exists: a motion plan for the autonomous vehicle that takes into account the anomaly can be determined; and one or more controls of the autonomous vehicle can be interfaced with to implement the motion plan.