Abstract: A steering angle error monitoring system may include a steering ground truth system, an odometry system and a steering controller. The odometry system may include a steering angle sensor and a speed sensor. The steering controller is configured to: determine a steering angle error based on a difference between an estimated turning rate based on signals from the odometry system over a period of time and an actual turning rate based on signals from the steering ground truth system over the period of time and output control signals to output a notification or adjust a steering routine based on the steering angle error.

Abstract: A mapping system may include a display, a global positioning satellite (GPS) system to be carried by a vehicle and a controller. The controller is configured to determine a polygon representing a geographic boundary of a first region based on signals received from the GPS system of the vehicle as the vehicle travels to enclose the first region, to estimate geographic coordinates of a first number of consecutive rows within the polygon based on signals from the GPS system of the vehicle as the vehicle travels between a second number of consecutive rows less than the first number of consecutive rows and to output control signals causing the display to present a map comprising the polygon and lines within the polygon, the lines being based on the estimated geographic coordinates of the first number of consecutive rows.