Method, computer-readable medium, system, and vehicle comprising the system for determining the position of a vehicle

Abstract

Method (400) for determining the position of a vehicle, the method comprising: Receiving (402) vehicle data from a vehicle data server (108) and / or positioning data from a mobile communication device (112), wherein the vehicle data and / or positioning data include speed, inclination, acceleration, and / or position of the vehicle, wherein the inclination of the vehicle is received by an inclination sensor of the mobile communication device; Check (403) whether the received vehicle data or positioning data includes a tilt of the vehicle; If the vehicle data and positioning data do not include inclination: Calculate (404) the inclination of the vehicle based on the vehicle data and / or the positioning data; Detect (406) a plane based on the vehicle data and the positioning data, wherein the detection (406) of the plane includes: Determining a vehicle position based on vehicle data or positioning data as the starting position of a ramp if the vehicle's incline equals or exceeds a predefined threshold; Determining a further position of the vehicle based on the vehicle data and / or the positioning data as the final position of the ramp if the vehicle's inclination falls below the specified threshold again; and Calculating the distance between the starting position and the end position of the ramp; If the distance exceeds a predetermined threshold: Calculating an average gradient between the starting position and the end position of the ramp; and Determining the plane corresponding to the end position of the ramp in Dependence of the average slope of the ramp; Providing (410) the plane as a vertical vehicle position.

Description

[0001] The invention relates to a method for determining the position of a vehicle. In particular, the invention relates to a method for determining the vertical and / or horizontal position of a vehicle using so-called dead reckoning navigation. Furthermore, the invention relates to a computer-readable medium, a system (e.g., a navigation system), and a vehicle comprising the system for determining the vehicle's position.

[0002] Navigation systems typically rely on satellites to determine a vehicle's current position. In scenarios where satellite signal reception is impossible or only possible in exceptional cases, such as in a tunnel or parking garage, dead reckoning can be used to determine a vehicle's approximate position. Based on data from, for example, a vehicle's accelerometers and / or wheel rotation measurements, dead reckoning can determine the vehicle's approximate position relative to a last satellite-based position. Due to inaccuracies in the vehicle's measurement systems, such as its sensors, the approximate position can become less accurate the longer the distance traveled.Furthermore, in large buildings, especially large parking garages, it can happen that a driver of the vehicle does not receive any information from a navigation system about a level on which the vehicle is parked.

[0003] DE 10 2013 215 960 A1 describes a method for determining the position of a vehicle. The method captures the vehicle's movement information and determines its trajectory based on this information. Based on this trajectory, the system automatically determines the floor level or ramp in a parking garage where the vehicle is located.

[0004] DE 601 28 748 T2 describes a navigation device capable of providing guidance that corresponds to the internal structure of a building, even if a vehicle is inside the building. The device determines whether the vehicle is currently inside the building. If it is determined that the current location is inside the building, a top view of the building is displayed. This top view is then used to perform the navigation process.

[0005] DE 10 2009 024 930 A1 describes an altitude coupling navigation system using a speedometer and a forward accelerometer to measure changes in altitude.

[0006] DE 10 2004 036 564 A1 describes a navigation device intended for mobile use, comprising input and output means, a processor for software processing, navigation software for position determination and route calculation, and a first interface for data transmission to and / or from the device. The first interface is designed to read operating and / or sensor data from at least one vehicle component into the device via a second interface and a data carrier containing navigation software for mobile use. The navigation software includes a software module that uses operating data from the vehicle in which the device is operated, read in via an interface of the device, or sensor data from sensors located in the vehicle, to determine the position or the vehicle's state of motion.

[0007] DE 601 21 075 T2 describes a navigation device comprising at least one CPU and a detector that generates a detection signal to determine whether a main unit is being used in a vehicle. If the detector's signal indicates that the main unit is in a vehicle, the CPU operates in vehicle mode to perform an initial navigation sequence suitable for vehicles. Otherwise, the CPU operates in off-vehicle mode to perform a second navigation sequence suitable for pedestrians. Thus, the navigation device can automatically switch its operating mode between vehicle and off-vehicle modes.

[0008] EP 1 191 500 A1 relates to methods and devices for locating a vehicle. Locating a vehicle is made possible by a vehicle-mounted position detection device for recording position data, which is transmitted to a mobile communication device for displaying route guidance.

[0009] DE 10 2010 029 589 A1 describes a method for determining the position of a motor vehicle with a permanently installed navigation system, comprising the following steps: providing a mobile device capable of self-localization; providing an interface for the communication-related connection of the mobile device with the motor vehicle; determining the position of the mobile device by self-localization; transmitting the position of the device to the motor vehicle via the interface; and taking the transmitted position of the device into account when determining the position of the vehicle.

[0010] It is therefore an object of the invention to improve the determination of a vehicle's position. In particular, an object of the invention is to improve dead reckoning navigation for determining a vehicle's position.

[0011] This problem is solved by the features of the independent claims. Advantageous embodiments and further developments of the invention result from the dependent claims.

[0012] According to a first aspect, the invention is characterized by a method according to claim 1 for determining the position of a vehicle. The method comprises receiving vehicle data and positioning data, wherein the vehicle data or the positioning data include data indicating a tilt of the vehicle or acceleration data with which the tilt of the vehicle can be calculated. Preferably, vehicle data is provided by a vehicle data server and positioning data by one or more mobile communication devices. The vehicle data can, for example, include vehicle acceleration, longitudinal acceleration, velocity, tilt, and / or position of the vehicle. Positioning data can include data that can be acquired by sensors of one or more mobile communication devices. For example, positioning data can include acceleration, e.g.This includes longitudinal and / or lateral acceleration, inclination, and / or other data relevant for determining a vehicle's position. The inclination can be the tilt angle of the vehicle or of a ramp on which the vehicle is located.

[0013] The method further comprises detecting a plane based on vehicle data and / or positioning data, wherein plane detection includes determining a vehicle position based on the vehicle data as the starting position of a ramp if the vehicle's inclination equals or exceeds a predetermined threshold, determining a further vehicle position based on the vehicle data as the end position of the ramp if the vehicle's inclination again falls below the predetermined threshold, and determining the plane associated with the end position of the ramp. Preferably, the method can determine a vehicle position based on the vehicle data as the starting position of a ramp if the vehicle's inclination equals or exceeds a predetermined threshold for a predetermined time period. A plane can, for example, be a floor or level of a building, e.g.The ramp can be a parking garage, a multi-level garage, an underground parking garage, and / or other buildings or structures that can be traversed by a vehicle. A ramp can be an inclined plane that can be traversed by a vehicle. Preferably, two levels are connected to each other via a ramp. The method finally includes providing the level as a vertical vehicle position. Providing the level as a vertical vehicle position can include providing data that specifies the level. Data that specifies the level can be, for example, an identifier of the level, a position or location of the level, and other information that enables the level to be located. The incline of a ramp can be between 10 and 15%. The incline of the ramp can be determined depending on values ​​of a parking level's height and / or, for example, a parking garage type.Possible types of parking garages include: parking garage with a full ramp, a half ramp, and / or a spiral ramp.

[0014] Advantageously, by detecting a ramp, a plane and thus the vertical position of a vehicle, especially within a building, can be efficiently determined. Combining dead reckoning navigation based on vehicle data for position determination with an analysis of the vehicle's tilt changes allows for improved vehicle positioning. A user can utilize the vehicle's vertical position to more efficiently locate it on a given plane. The vertical position can therefore improve user navigation to the vehicle's location.

[0015] According to an advantageous embodiment, the method can include checking whether the received vehicle or positioning data includes data indicating the vehicle's inclination. If the received vehicle or positioning data does not include data indicating the vehicle's inclination, the method can include calculating the vehicle's inclination based on acceleration data, which can be used to calculate the vehicle's inclination. This allows the method to be flexibly adapted to the available vehicle and positioning data, thus efficiently increasing its flexibility.

[0016] According to a further advantageous embodiment, the plane detection can include calculating the distance between the starting and ending positions of the ramp. If this distance exceeds a predefined threshold, the method can include calculating the average slope between the starting and ending positions of the ramp and determining the plane corresponding to the ramp's ending position based on this average slope. This allows for a more precise determination of a ramp and, consequently, of a plane. Only inclined planes with a predefined length are recognized as ramps. Furthermore, by calculating the average slope and determining the plane based on this average slope, undulating ramps can be detected more precisely, and the corresponding planes can be correctly determined.

[0017] According to a further advantageous embodiment, determining the plane can involve adjusting a plane counter depending on the calculated average slope, and / or providing the plane as the vehicle's vertical position by transmitting the value of the plane counter. Using a plane counter allows the vertical position to be determined easily and flexibly and provided to a user.

[0018] According to a further advantageous embodiment, vehicle data can be received by the vehicle, and positioning data can be received by a mobile communication device. The mobile communication device can be a smart device that is connected to a vehicle via a communication or data link. For example, a mobile communication device can be a smartphone, augmented reality glasses, and / or a smartwatch. By receiving positioning data from one or more mobile communication devices, sensors can be used efficiently to measure the positioning data of the mobile communication device for determining the vehicle's position. The positioning data measured by the sensors of the mobile communication device can thus be used in addition to, or as an alternative to, the vehicle data measured and provided by the vehicle's sensors.

[0019] According to a further advantageous embodiment, the vehicle's tilt can be received from a tilt sensor of the mobile communication device, and / or the positioning data of the mobile communication device can include acceleration data determined by an acceleration sensor of the mobile communication device, and / or the vehicle's tilt can be calculated based on the acceleration data of the mobile communication device. This allows the sensors of a mobile communication device to be used efficiently to obtain positioning data, enabling a more precise determination of the vehicle's position. Additionally, missing or defective sensor data from the vehicle can be compensated for by sensor data from one or more mobile communication devices, which can contribute to a more precise determination of the vehicle's position.

[0020] According to a further advantageous embodiment, the method can include determining the current position of the vehicle based on the vehicle data on the specified plane, and providing the current position of the vehicle as the horizontal vehicle position and the specific plane as the vertical vehicle position. Determining the horizontal position of the vehicle allows for a more precise determination of the vehicle's position on a specific plane.

[0021] According to a further advantageous embodiment, the current position of the vehicle can be determined based on the vehicle data relative to the end position of the ramp. This allows for a more precise determination of the vehicle's position on a plane.

[0022] According to a further advantageous embodiment, adjusting the level counter can involve incrementing the level counter if the calculated average slope is positive, or decrementing the level counter if the calculated average slope is negative. This allows for efficient detection of the current level on which the vehicle is located.

[0023] According to another aspect, the invention is characterized by a computer-readable medium according to claim 6 for determining a position of a vehicle, wherein the computer-readable medium comprises instructions which, when executed on a computer, a control unit and / or a mobile communication device, execute the method described above.

[0024] According to another aspect, the invention is characterized by a system according to claim 7 for determining a position of a vehicle, wherein the system is configured to perform the method described above.

[0025] According to another aspect, the invention is characterized by a vehicle according to claim 8 comprising a system according to claim 7 for determining a position of the vehicle, wherein the system of the vehicle is configured to perform the method described above.

[0026] Further features of the invention will become apparent from the claims, the figures, and the description of the figures. All features and combinations of features mentioned above in the description, as well as those subsequently mentioned in the description of the figures and / or shown in the figures alone, are usable not only in the combinations specified, but also in other combinations or individually.

[0027] The invention is based on the considerations set out below: Using dead reckoning based on a vehicle's sensors can lead to inaccuracies in position detection. To improve vehicle position detection, particularly in parking garages or similar structures, vehicle data acquired by the vehicle's sensors, such as acceleration, speed, and / or position, can be transmitted via a data interface to a mobile communication device, such as a smartphone, augmented reality glasses, and / or a smartwatch. In addition to the vehicle's sensors, sensors from the mobile communication device, such as accelerometers and tilt sensors, can be used to more accurately determine the vehicle's position using dead reckoning. The vehicle's sensors can thus be augmented by sensors and / or sensor data from a mobile communication device.The mobile communication device can, for example, include sensors that are not present in the vehicle or are only present with lower accuracy. By using the sensors of a mobile communication device, the accuracy of the vehicle's position determination can therefore be increased.

[0028] The determined position can be transmitted, for example, from the mobile communication device to the vehicle and / or to other communication devices, so that the position determined by the sensors of the mobile communication device can be made available to a user on as many devices as possible, e.g., mobile communication devices and / or navigation devices. The user can then use the determined position, for example, as a navigation destination to find or locate a vehicle more precisely in a parking garage.

[0029] The following describes a preferred embodiment of the invention with reference to the accompanying drawings. Further details, preferred configurations, and further developments of the invention will be derived from these drawings. Specifically, the drawings schematically illustrate... Fig. 1. An exemplary system for determining the position of a vehicle, Fig. 2. Another exemplary system for determining the position of a vehicle, Fig. 3. An overview of exemplary vehicle data, Fig. 4 an exemplary procedure for determining the position of a vehicle, and Fig. 5 A schematic representation for determining the inclination of a vehicle.

[0030] In detail, it shows Fig. 1 An exemplary system 100 for determining the position of a vehicle 102 by means of a dead reckoning navigation device 104 installed in the vehicle 102. The dead reckoning navigation device 104 can receive vehicle data via a data interface 106 of a vehicle data server 108. Furthermore, the dead reckoning navigation device 102 can receive positioning data from a mobile communication device 112 via a data interface 110. The positioning data of the mobile communication device 112 can include sensor data from the mobile communication device 112. The positioning data are data that can be used for determining the position of the vehicle, in particular for determining its position by means of dead reckoning navigation.

[0031] The mobile communication device 112 can be connected to the vehicle 102 wirelessly or via a wired connection. Preferably, the mobile communication device 112 is connected to the vehicle 102 via a snap-in adapter. This connection via a snap-in adapter establishes a mechanical link between the mobile communication device 112 and the vehicle 102. The sensors of the mobile communication device 112 can thus be precisely aligned relative to the vehicle, enabling the sensor data from the mobile communication device 112 to detect movements and / or changes in the vehicle's position.

[0032] Furthermore, the mobile communication device 112 can be used to forward positioning data from other mobile communication devices 114, 116 that are connected to the mobile communication device 112 via a wireless interface 118. By using other mobile communication devices 114, 116 to determine positioning data, the positioning data can be determined more precisely and / or faster.

[0033] Data transmission via data interfaces 106 and 110 can be event-driven, continuous, and / or discrete-time. For example, the vehicle data server 108 and / or the mobile communication device 112 can transmit vehicle data or positioning data to the dead reckoning navigation device 104 at discrete time intervals. Additionally or alternatively, the dead reckoning navigation device 104 can request vehicle data or positioning data from the vehicle data server 108 or the mobile communication device 112. The mobile communication device 112 and the vehicle data server 108 can receive the requests from the dead reckoning navigation device 104 and transmit the requested vehicle data or positioning data back to the dead reckoning navigation device 104.

[0034] The dead reckoning device 104 can determine the horizontal and / or vertical position of the vehicle 102 based on the vehicle data and the positioning data. The position data, i.e., the vertical and / or horizontal position data, of the vehicle 102 can be transmitted by the dead reckoning device 104 to the mobile communication device 112, so that a user of the mobile communication device 112 can use the vehicle 102 position data to navigate to and / or locate the vehicle 102. This allows the user to locate the vehicle 102 more precisely and easily.

[0035] Fig. Figure 2 shows another exemplary system 200 for determining the position of a vehicle. The system 200 can perform dead reckoning navigation using a dead reckoning navigation device 202 on the mobile communication device 112. In contrast to Fig. 1 The system 200 includes a dead reckoning navigation device 202 on the mobile communication device instead of a dead reckoning navigation device 104 which is installed or integrated in the vehicle 102.

[0036] The dead reckoning navigation device 202 can receive positioning data from one or more sensors 204 of the mobile communication device 112 via a data interface 206. Furthermore, the dead reckoning navigation device 202 can receive vehicle data from the vehicle data server 108 of the vehicle 102 via the data interface 208. For this purpose, the mobile communication device 112 can be connected to the vehicle 102, and in particular to the vehicle data server 108 of the vehicle 102, via a snap-in adapter. The data interface 208 can, for example, be an Appsfor-Automotive, or A4A, interface.

[0037] The dead reckoning navigation device 202 can determine a position, preferably a vertical and / or horizontal position, of the vehicle based on the vehicle data and / or the positioning data. The determined position can be transmitted to the vehicle, in particular to the vehicle data server 108, via the data interface 208. Additionally or alternatively, the determined position can be transmitted via the communication link 118 to the other mobile communication devices 114, 116 for display. By determining the position of the vehicle 102 using the dead reckoning navigation device 202 on the mobile communication device 112, the vehicle's position can be determined more precisely without having to make any software and / or hardware changes to the vehicle.The existing vehicle data can be efficiently combined with additional positioning data from the mobile communication device 112 for improved determination of the vehicle's position.

[0038] In detail, it shows Fig. 3. Overview 300 of exemplary vehicle data that can be retrieved from a vehicle data server 108 by the dead reckoning navigation devices 104, 202. The vehicle data provided by the vehicle data server 108 can depend on the vehicle, the vehicle type, the vehicle's sensors, and / or a version of the vehicle data server. The vehicle data can be provided as messages via a bus system, e.g., a CAN bus system and / or an Ethernet network, of the vehicle. A first column of the overview 300 shows possible CAN messages 302 that can be provided by a vehicle data server 108 via the vehicle's CAN bus. Each CAN message can contain one or more signals 304 that can signal different vehicle data. For example, if a sensor of the vehicle cannot receive a signal, a corresponding signal of a CAN message cannot be provided by the vehicle data server 108.Furthermore, depending on the configuration, the vehicle data server 108 can only provide a selection of CAN messages 302 and / or signals 304. For example, the CAN message TLT-RW for road inclination can only be provided if the vehicle's sensor system includes corresponding sensors.

[0039] Fig. Figure 4 shows an exemplary method 400 for determining the position of a vehicle 102 using dead reckoning navigation. Preferably, the method 400 can be carried out by the dead reckoning navigation devices 104, 202. The method 400 is described below for the dead reckoning navigation device 202 of the Fig. 2 described. The procedure for the dead reckoning navigation device 104 follows analogously to procedure 400 for the dead reckoning navigation device 202.

[0040] Method 400 can receive vehicle data from the vehicle data server 108 and / or positioning data from the mobile communication device 112. Preferably, the vehicle data and / or the positioning data include a speed, an acceleration, and / or a position of the vehicle. Additionally, the vehicle data and / or the positioning data can include an inclination, in particular an angle of inclination, of the vehicle or of a roadway on which the vehicle is located. The dead reckoning navigation device 202 can check whether the vehicle data or the positioning data includes an inclination of the vehicle. If the vehicle data and the positioning data do not include an inclination, the dead reckoning navigation device can calculate the inclination, in particular the angle of inclination, based on the vehicle data and / or the positioning data.

[0041] Fig. Figure 5 shows a schematic representation of a calculation for the inclination of a vehicle or a roadway. The term inclination specifies the angle of inclination of the vehicle or the roadway on which the vehicle is located. The inclination can be used to determine whether the vehicle is on an upward-sloping or downward-sloping ramp. Furthermore, the inclination can be used to determine a level, e.g., a level or floor of a parking garage, on which the vehicle is located. The following are known in the example of Fig. 5 the gravitational force mg, the longitudinal acceleration A L , in Fig. 5 denoted as mg * sin(α), and the current vehicle acceleration A V The angle of inclination α is sought.

[0042] For a stationary vehicle, the tilt angle α can be calculated as follows: α=arcsin(ALmg).

[0043] For a moving vehicle, the angle of inclination α can be calculated as follows: α=arcsin(AL−AVmg).

[0044] The precision with which the vehicle's inclination or tilt angle can be determined depends on the accuracy of the input values, in this case, the accuracy of the longitudinal acceleration and the accuracy of the vehicle acceleration. Depending on the design of the acceleration sensors, the acceleration parameters from the sensors of the mobile communication device and / or the acceleration parameters from the vehicle data server can be used to calculate the inclination.

[0045] Using the vehicle's inclination or tilt angle, method 400 can detect a plane on which the vehicle is located. To detect a plane as the vehicle's vertical position, method 400 can determine a position of the vehicle based on vehicle data or positioning data as the starting position of a ramp. Preferably, the starting position of a ramp is determined only if the vehicle's inclination equals or exceeds a predetermined threshold for a predetermined time period. Furthermore, another position of the vehicle is determined as the end position of the ramp based on vehicle data and / or positioning data if the vehicle's inclination falls below the predetermined threshold again. The determination of the starting and end positions of the ramp can be carried out using dead reckoning navigation.Determining the start and end positions of the ramp as well as other horizontal positions of the vehicle can be carried out, for example, using the dead reckoning navigation method from DE 10 2012 210 466 A1.

[0046] Once a starting position and an end position of the ramp have been determined, Method 400 can calculate a distance between the starting position and the end position of the ramp. If the distance exceeds a predetermined threshold, Method 400 can calculate an average gradient between the starting position and the end position of the ramp. Subsequently, Method 400 can determine the level corresponding to the end position of the ramp, preferably as a function of the average gradient of the ramp. For easier determination of the level, a level counter can be used, for example. The level counter can be incremented if the calculated average gradient is positive, i.e., the vehicle has reached the next higher level. The level counter can be decremented if the calculated average gradient is negative, i.e., the vehicle has reached the next lower level.The determined value of the level counter can be provided to the user, other mobile communication devices, and / or as a navigation destination for a navigation device.

[0047] In addition to the vertical position, the current horizontal position of the vehicle can be determined 408. Preferably, the vertical position of the vehicle can be determined using dead reckoning navigation. For example, the current horizontal position of the vehicle relative to the end position of the ramp can be determined. Together with the vertical position, the horizontal position of the vehicle can also be provided to the user, other mobile communication devices, and / or as a navigation target for a navigation device 410.

[0048] Advantageously, linking vehicle data with positioning data from a mobile communication device, such as a smartphone, allows for improved vehicle positioning in areas where satellite connectivity is unavailable or limited. This enables improved navigation to the vehicle's parking location and more precise identification of the vehicle's location. Reference symbol list 100 System 102 vehicles 104 Dead reckoning navigation system 106 Data interface 108 vehicle data servers 110 Data interface 112 mobile communication device 114 mobile communication device 116 mobile communication device 118 Wireless interface 200 System 202 Dead reckoning navigation system 204 sensors 206 Data interface 208 Data interface 300 Overview of vehicle data 302 CAN messages 304 signals 400 procedures 402 Receiving data 403 Check if inclination data has been received 404 Calculating the slope 406 Identifying a plane 408 Determining a current position 410 Providing the vehicle position 500 Representation of a calculation of a vehicle's inclination

Claims

[1] Method (400) for determining the position of a vehicle, the method comprising: Receiving (402) vehicle data from a vehicle data server (108) and / or positioning data from a mobile communication device (112), wherein the vehicle data and / or positioning data include speed, inclination, acceleration, and / or position of the vehicle, wherein the inclination of the vehicle is received by an inclination sensor of the mobile communication device; Check (403) whether the received vehicle data or positioning data includes a tilt of the vehicle; If the vehicle data and positioning data do not include inclination: Calculate (404) the inclination of the vehicle based on the vehicle data and / or the positioning data; Detect (406) a plane based on the vehicle data and the positioning data, wherein the detection (406) of the plane includes: Determining a vehicle position based on vehicle data or positioning data as the starting position of a ramp if the vehicle's incline equals or exceeds a predefined threshold; Determining a further position of the vehicle based on the vehicle data and / or the positioning data as the final position of the ramp if the vehicle's inclination falls below the specified threshold again; and Calculating the distance between the starting position and the end position of the ramp; If the distance exceeds a predetermined threshold: Calculating an average gradient between the starting position and the end position of the ramp; and Determining the plane corresponding to the end position of the ramp in Dependence of the average slope of the ramp; Providing (410) the plane as a vertical vehicle position. [2] Method according to claim 1, wherein determining the plane comprises adjusting a plane counter depending on the calculated mean slope; and / or wherein providing the plane as a vertical vehicle position comprises transmitting the value of the plane counter. [3] A method according to any one of the preceding claims, further comprising: Determine (408) a current position of the vehicle based on the vehicle data at the specified level; and Providing (410) the current position of the vehicle as the horizontal vehicle position and the specified plane as the vertical vehicle position. [4] Method according to claim 3, wherein the current position of the vehicle is determined based on the vehicle data relative to the end position of the ramp. [5] Method according to any one of the preceding claims 2 to 4, wherein adjusting the level counter comprises: Increment the level counter if the calculated mean slope is positive; or Decrement the level counter if the calculated mean slope is negative. [6] Computer-readable medium for determining the position of a vehicle, wherein the computer-readable medium comprises instructions which, when executed on a control unit or mobile communication device, execute the method according to any one of claims 1 to 5. [7] System for determining the position of a vehicle, wherein the system is configured to perform the method according to any one of claims 1 to 5. [8] Vehicle comprising a system for determining a position of the vehicle, wherein the system of the vehicle is configured to perform the method according to any one of claims 1 to 5.

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