Abstract: A localization system includes at least three locally defined locating devices whose clocks are synchronized and that receive signals of at least one vehicle; and a determination device that is configured to receive the signals of the at least one vehicle and data regarding distances of the locating devices relative to the vehicle, ascertain from the received data a surroundings model containing position data of the vehicle, and wirelessly transmit the surroundings model to the vehicle.

Abstract: A guiding device for at least one vehicle, including a receiving unit of an infrastructure sensor unit for receiving data of a surroundings of the vehicle and for receiving data of a destination of the vehicle; and an ascertainment unit, the ascertainment unit being designed to ascertain a trajectory from the data of the surroundings and the data of the destination and to transmit the data wirelessly to the vehicle.