Abstract: A computer-implemented method estimates a vehicle position. The method provides a first position estimate based on position information from at least one first source, wherein the first position estimate is assigned a first bias value and a first statistical variance; provides a second position estimate based on position information from at least one second source; determines a third bias value and a third statistical variance, wherein the third bias value and the third statistical variance are assigned to a third position estimate which results from a combination of the first position estimate and the second position estimate; and evaluates the first position estimate and the third position estimate on the basis of a quality criterion which takes into account the bias value assigned to each position estimate and the statistical variance assigned to each position estimate.

Abstract: A method for determining the validity of an estimated position of a vehicle includes receiving the estimated position; receiving sensor information relating to a vehicle environment; detecting a number of first features in the digital map and a number of second features in the sensor information, wherein the features indicate at least one object beside a road; grouping the first features into a number of first feature groups and grouping the second features into a number of second feature groups; rejecting first and/or second feature groups; assigning at least some of the first feature groups which have not been rejected to a particular second feature group which has not been rejected; and determining the validity of the estimated position based on a comparison of positions of a number of the first feature groups which have not been rejected with positions of the respectively assigned second feature groups.

Abstract: A method for controlling a first vehicle, travelling on a road, that has a second vehicle travelling ahead of it, includes the steps of: scanning the second vehicle from the first vehicle by use of multiple sensors; providing individual determinations, each on the basis of scans by only one of the sensors, concerning whether the first and the second vehicle are travelling in the same lane of the road, wherein each sensor has an associated determination certainty; and providing a collision warning if a product of the determination certainties is below a predetermined threshold value.

Abstract: A method for controlling a first vehicle, travelling on a road, that has a second vehicle travelling ahead of it, includes the steps of: scanning the second vehicle from the first vehicle by use of multiple sensors; providing individual determinations, each on the basis of scans by only one of the sensors, concerning whether the first and the second vehicle are travelling in the same lane of the road, wherein each sensor has an associated determination certainty; and providing a collision warning if a product of the determination certainties is below a predetermined threshold value.