Method for determining arrangement information for a vehicle, wherein the arrangement information comprises a position of the vehicle and an orientation of the vehicle with respect to a stationary coordinate system, wherein the method comprises: - initializing an arrangement information hypothesis, wherein, during initialization, arrangement information hypotheses are determined at a current GPS position, map material is loaded and a current lane arrangement hypothesis is determined from the map material for the current GPS position, wherein the following steps to are carried out cyclically, - updating the arrangement information for the vehicle depending on odometry data of the vehicle, - updating the arrangement information for the vehicle depending on a global position measurement, - detecting a local lane arrangement in the surroundings of the vehicle using sensors of the vehicle, wherein the local lane arrangement indicates an arrangement of lanes in the surroundings of the vehicle with respect to the vehicle, - determining a first lane arrangement depending on the local lane arrangement and the current arrangement information for the vehicle, wherein the first lane arrangement indicates an arrangement of lanes in the surroundings of the vehicle with respect to the stationary coordinate system, wherein a lane of the first lane arrangement comprises a point list representing the lane center, wherein each point of the point list corresponds to a position observed by sensors of the vehicle, - determining a second lane arrangement depending on predetermined map material and the current arrangement information for the vehicle, wherein the second lane arrangement indicates an arrangement of lanes in the surroundings of the vehicle with respect to the stationary coordinate system, wherein a lane of the second lane arrangement comprises a point list representing the lane center, wherein each point of the point list corresponds to a relevant point of the map material, - determining similarity information depending on a geometric similarity between the first lane arrangement and the second lane arrangement, wherein the similarity information is determined on the basis of point-by-point comparisons of points of the point list of the first lane information with corresponding points of the point list of the second lane information, and - updating the current arrangement information for the vehicle depending on the similarity information, - updating the current lane arrangement hypothesis depending on the similarity information, wherein the lane arrangement hypothesis indicates a hypothesis for an arrangement of lanes in the surroundings of the vehicle with respect to the stationary coordinate system. - initializing an arrangement information hypothesis, wherein, during initialization, arrangement information hypotheses are determined at a current GPS position, map material is loaded and a current lane arrangement hypothesis is determined from the map material for the current GPS position, wherein the following steps to are carried out cyclically, wherein, during initialization, arrangement information hypotheses are determined at a current GPS position, map material is loaded and a current lane arrangement hypothesis is determined from the map material for the current GPS position, wherein the following steps to are carried out cyclically, - updating the arrangement information for the vehicle depending on odometry data of the vehicle, - updating the arrangement information for the vehicle depending on a global position measurement, - detecting a local lane arrangement in the surroundings of the vehicle using sensors of the vehicle, wherein the local lane arrangement indicates an arrangement of lanes in the surroundings of the vehicle with respect to the vehicle, - determining a first lane arrangement depending on the local lane arrangement and the current arrangement information for the vehicle, wherein the first lane arrangement indicates an arrangement of lanes in the surroundings of the vehicle with respect to the stationary coordinate system, wherein a lane of the first lane arrangement comprises a point list representing the lane center, wherein each point of the point list corresponds to a position observed by sensors of the vehicle, - determining a second lane arrangement depending on predetermined map material and the current arrangement information for the vehicle, wherein the second lane arrangement indicates an arrangement of lanes in the surroundings of the vehicle with respect to the stationary coordinate system, wherein a lane of the second lane arrangement comprises a point list representing the lane center, wherein each point of the point list corresponds to a relevant point of the map material, - determining similarity information depending on a geometric similarity between the first lane arrangement and the second lane arrangement, wherein the similarity information is determined on the basis of point-by-point comparisons of points of the point list of the first lane information with corresponding points of the point list of the second lane information, and - updating the current arrangement information for the vehicle depending on the similarity information, - updating the current lane arrangement hypothesis depending on the similarity information, wherein the lane arrangement hypothesis indicates a hypothesis for an arrangement of lanes in the surroundings of the vehicle with respect to the stationary coordinate system.