System and method to validate marshaling instructions received by infrastructure enabled marshaling system

A system comprising:

• an infrastructure system configured to:
• transmit a vehicle marshaling map to a vehicle, the vehicle marshaling map defining a marshaling route;
• receive pose position updates from the vehicle;
• transmit to the vehicle, in response to the received pose position updates not matching an estimated pose position determined by a marshaling algorithm of the infrastructure system, an e-stop command;
• and
• update control commands to other vehicles traveling along the marshaling route in response to a failure to receive confirmation of an e-stop by the vehicle.

One or more non-transitory computer-readable media storing processor-executable instructions that, when executed by at least one processor, cause the at least one processor to:

• transmit a vehicle marshaling map to a vehicle, the vehicle marshaling map defining a marshaling route;
• receive pose position updates from the vehicle;
• transmit to the vehicle, in response to the received pose position updates not matching an estimated pose position determined by a marshaling algorithm of the infrastructure system, an e-stop command;
• and
• update control commands to other vehicles traveling along the marshaling route in response to a failure to receive confirmation of an e-stop by the vehicle.