Abstract: Disclosed are systems and techniques for controlling one or more operations of a vehicle. For example, according to some aspects, a process may include determining a path associated with the vehicle and determining at least two points on the path located closest to a pose of the vehicle. The process may include determining a measurement point on a segment between at least two points that is closest to the pose of the vehicle. The process may further include determining a lateral offset, a heading offset, and/or a curvature of the path based on at least two points and the measurement point.

Abstract: An example yaw rate related method includes: obtaining a plurality of measurements of yaw rate of a vehicle from a yaw rate sensor; and determining a yaw rate sensor bias estimate for the yaw rate sensor based on at least one of the plurality of measurements of yaw rate in response to: a plurality of indications of location of the vehicle over time based on global navigation satellite system signals being indicative of straight-line movement of the vehicle; or a determination that the vehicle is stationary.