A control system for an autonomous vehicle includes at least one controller. The controller is programmed to receive first sensor readings from a first group of sensors, provide a first sensor fusion output based on the first sensor readings, the first sensor fusion output including a first detected state of a detected object, receive second sensor readings from a second group of sensors, and provide a second sensor fusion output based on the second sensor readings, the second sensor fusion output including a second detected state of the detected object. The controller is additionally programmed to, in response to the first detected state being outside a predetermined range of the second detected state, generate a diagnostic signal.