A method and system for guiding a vehicle comprises a location determining
receiver for collecting location data for the vehicle. A vision module
collects vision data for the vehicle. A location quality estimator
estimates the location quality data for the location data during an
evaluation time window. A vision module estimates vision quality data for
the vision data during the evaluation time window. A supervisor module
selects at least one of a location data weight and a vision data weight
based on the quality data.