Road surface-based vehicle control

A method identifying a location of a vehicle, the method comprising:

• (a) traveling on a first road segment in the vehicle;
• (b) while traveling in step (a), determining, by a first localization system, a region where the vehicle is located, wherein the region includes at least two road segments;
• (c) with one or more motion sensors included in a mobile computing device, collecting data related to a motion of the mobile computing device;
• (d) accessing prerecorded data related to road surface characteristics of the at least two road segments;
• (e) comparing the collected data obtained in step (c) with the prerecorded data accessed in step (d);
• and
• (f) based at least partially on the comparison, determining on which of the at least two road segments in the region the vehicle is located.

A method for determining a location of a vehicle, the method comprising:

• (a) determining, using a first localization system, a first location of the vehicle;
• (b) determining, using a second localization system, a second location of the vehicle;
• (c) determining a first weight to assign the first location and a second weight to assign to the second location;
• and
• (d) determining the location of the vehicle, wherein the location of the vehicle is equal to a weighted average of the first location and the second location.