System and method for determining parallel lift feedforward control for a wheel loader

A method for determining parallel lift feedforward control of a bucket of a work vehicle is provided. The method includes calculating a current stroke length of a bucket cylinder at a current moment based on a current bell crank plate angle and a current boom angle. The method includes predicting a future boom angle after a certain number of steps. The method further includes calculating a required bell crank plate angle from a learned cutting edge angle and the future boom angle. The method even further includes calculating a future stroke length of the bucket cylinder after the certain number of steps. The method yet further includes calculating an average speed command for bucket control based on the current stroke length and the future stroke length of the bucket cylinder. The method still further includes calculating a bucket cylinder control command based on the average speed command for bucket control.