  Autonomous vehicles are being deployed with a spectrum of capability,
extending from driver assistance features for the highway in personal vehicles
(SAE Level 2+) to fully autonomous fleet ride sharing services operating in
complex city environments (SAE Level 4+). This spectrum of autonomy often
operates in different physical environments with different degrees of assumed
driver in-the-loop oversight and hence have very different system and subsystem
requirements. At the heart of SAE Level 2 to 5 systems is localization and
mapping, which ranges from road determination for feature geofencing or
high-level routing, through lane determination for advanced driver assistance,
to where-in-lane positioning for full vehicle control. We assess localization
and mapping requirements for different levels of autonomy and supported
features. This work provides a framework for system decomposition, including
the level of redundancy needed to achieve the target level of safety. We
examine several representative autonomous and assistance features and make
recommendations on positioning requirements as well map georeferencing and
information integrity.
