APPARATUS, METHOD, AND COMPUTER PROGRAM FOR A FIRST VEHICLE AND FOR ESTIMATING A POSITION OF A SECOND VEHICLE AT THE FIRST VEHICLE, VEHICLE

Embodiments relate to a vehicle, an apparatus, a method, and a computer program for a first vehicle and for estimating a position of a second vehicle at the first vehicle. The method (10) for a first vehicle (200; V1) and for estimating a position of a second vehicle (V2) at the first vehicle (200; V1) comprises obtaining (12) information on an environmental map of the first vehicle (200; V1); receiving (14) information on a trajectory of the second vehicle (V2); and estimating (16) the position of the second vehicle (V2) in the environmental map based on the information on the trajectory.