Map selection for vehicle pose system

A method for locating a vehicle, comprising:

• accessing, by at least one processor, a first position estimate for the vehicle generated by a first vehicle position generator executed by the at least one processor, the first position estimate being on a first map area of a plurality of map areas;
• accessing, by the at least one processor, a second position estimate for the vehicle generated by a second vehicle position generator executed by the at least one processor, the second position estimate being on a second map area of the plurality of map areas;
• selecting, by the at least one processor, the second map area based at least in part on a confidence of the first position estimate and a confidence of the second position estimate;
• and
• sending, to the first vehicle position generator, a first map area message indicating that the second map area is to be used for a future position estimate.

A non-transitory computer-readable medium comprising instructions thereon that, when executed by a vehicle computing system of a vehicle cause the vehicle computing system to perform operations comprising:

• accessing a first position for the vehicle at a first time, wherein the first position is in a first map area of a plurality of map areas, and wherein the first position is based at least in part on a first position estimate generated by a first vehicle position generator executing at the vehicle computing system;
• accessing a second position for the vehicle at a second time after the first time, wherein the second position is based at least in part on the first position of the vehicle and at least in part on sensor data describing a motion of the vehicle after the first time;
• determining that the second position of the vehicle is in a second map area of the plurality of map areas;
• and
• sending a first map area message to the first vehicle position generator, the first map area message indicating the second map area.