Position error estimate and implementation for autonomous driving

A system for controlling an automated system of a vehicle, the system comprising:

• a plurality of different input systems used in connection with the vehicle, the plurality of different input systems each configured to provide respective inputs;
• and
• a processor coupled to the plurality of different input systems, the processor configured to at least facilitate:
• estimating a current position of the vehicle using the respective inputs from each of the plurality of different input systems, generating a current position estimate based on the estimating;
• estimating an aggregate error for the current position estimate, the aggregate error comprising an aggregate expected error radius for the current position estimate, wherein the aggregate expected error radius is estimated by:
• estimating a respective error measure for each of the plurality of different input systems, the respective error measure comprising, for each particular input system, a respective error radius for the particular input system;
• and
• aggregating the respective error measures for each of the plurality of different input systems;
• to thereby generate the aggregate error comprising the aggregate expected error radius for the current position estimate;
• and
• controlling the automated system using the current position estimate and the aggregate expected error radius.

A vehicle comprising:

• one or more automated driving systems;
• a plurality of different input systems used in connection with the vehicle, the plurality of different input systems configured to provide inputs;
• and
• a processor coupled to the plurality of different input systems, the processor configured to at least facilitate:
• estimating a current position of the vehicle using the inputs from each of the plurality of different input systems generating a current position estimate based on the estimating;
• estimating an aggregate error for the current position estimate, the aggregate error comprising an aggregate expected error radius for the current position estimate, wherein the expected error radius is estimated by:
• estimating a respective error measure for each of the plurality of different input systems, the respective error measure comprising, for each particular input system, a respective error radius for the particular input system;
• and
• aggregating the respective error measures for each of the plurality of different input systems;
• to thereby generate the aggregate error comprising the aggregate expected error radius for the current position estimate;
• and
• controlling the one or more automated driving systems using the current position estimate and the aggregate expected error radius.