POSITION ESTIMATION FOR VEHICLES BASED ON VIRTUAL SENSOR RESPONSE

A method for determining an estimated position (42) of a vehicle (10) comprises: receiving a measured sensor response (40) determined with a scanning sensor (14) of the vehicle (10), which is scanning an environment of the vehicle (10) and determining the estimated position (42) of the vehicle(10) by generating a virtual sensor response (38) for a possible position of the vehicle (10) from an environmental map (32); and comparing the measured sensor response (40) with the virtual sensor response (38) for determining, how much the possible position and a real position of the vehicle (10) at which the measured sensor response (40) was generated, coincide.