CORRECTING A POSITION OF A VEHICLE WITH SLAM

The invention relates to a method for correcting a position of a vehicle (), in particular when parking in a parking space (), comprising the steps of: determining the position of the vehicle () on the basis of odometry information of the vehicle (), sensing ultrasonic signals from a linear object (), carrying out a method for simultaneous localization and mapping (SLAM) on the basis of the linear object () and the ultrasonic signals, and correcting the position of the vehicle () on the basis of odometry information by the simultaneous localization and mapping on the basis of the linear object (). The invention also relates to a control device () for a driving support system () of a vehicle () which is designed to receive odometry information of the vehicle (), is also designed to receive ultrasonic signals from at least one ultrasonic sensor () of the driving support system (), and is also designed to carry out the aforementioned method. The invention also relates to a driving support system () for a vehicle () with an aforementioned control device () and with at least one ultrasonic sensor (). The invention likewise relates to a vehicle () with an aforementioned driving support system ().