Computer implemented method for determining a position of a vehicle equipped with a sensor system, wherein the sensor system includes at least one sensor for receiving electromagnetic radiation emitted from at least one emitter of the sensor system and reflected in a vehicle environment towards the at least one sensor, wherein the method comprises: - determining at least one scan comprising a plurality of detection points, wherein each detection point is evaluated from electromagnetic radiation received by the at least one sensor and representing a location in the vehicle environment; - determining, from a database, a predefined map, wherein the predefined map comprises a plurality of elements in a map environment, each of the elements representing a respective one of a plurality of static landmarks in the vehicle environment, and the map environment representing the vehicle environment; - matching the plurality of detection points and the plurality of elements; - determining the position of the vehicle based on the matching; wherein the predefined map further comprises a spatial assignment of a plurality of parts of the map environment to the plurality of elements, wherein the spatial assignment is used for the matching, wherein the parts of the map environment are defined by spatial positions arranged as a mesh grid which comprise the positions for any potential detection point, wherein the matching comprises: identifying, for a respective one of the plurality of detection points, a respective one of the plurality of parts of the map environment, the respective one of the plurality of parts of the map environment representing a part of the vehicle environment including the location represented by the respective one of the plurality of detection points; identifying a respective one of the plurality of elements being assigned to the identified respective one of the plurality of parts of the map environment; and assigning the identified respective one of the plurality of elements to the respective one of the plurality of detection points, and wherein the predefined map further comprises a plurality of distance values representing distances between the plurality of parts of the map environment being assigned to the plurality of elements, respectively, wherein the distance values are used for the matching. - determining at least one scan comprising a plurality of detection points, wherein each detection point is evaluated from electromagnetic radiation received by the at least one sensor and representing a location in the vehicle environment; - determining, from a database, a predefined map, wherein the predefined map comprises a plurality of elements in a map environment, each of the elements representing a respective one of a plurality of static landmarks in the vehicle environment, and the map environment representing the vehicle environment; - matching the plurality of detection points and the plurality of elements; - determining the position of the vehicle based on the matching; wherein the predefined map further comprises a spatial assignment of a plurality of parts of the map environment to the plurality of elements, wherein the spatial assignment is used for the matching, wherein the parts of the map environment are defined by spatial positions arranged as a mesh grid which comprise the positions for any potential detection point, wherein the matching comprises: identifying, for a respective one of the plurality of detection points, a respective one of the plurality of parts of the map environment, the respective one of the plurality of parts of the map environment representing a part of the vehicle environment including the location represented by the respective one of the plurality of detection points; identifying a respective one of the plurality of elements being assigned to the identified respective one of the plurality of parts of the map environment; and assigning the identified respective one of the plurality of elements to the respective one of the plurality of detection points, and wherein the predefined map further comprises a plurality of distance values representing distances between the plurality of parts of the map environment being assigned to the plurality of elements, respectively, wherein the distance values are used for the matching. identifying, for a respective one of the plurality of detection points, a respective one of the plurality of parts of the map environment, the respective one of the plurality of parts of the map environment representing a part of the vehicle environment including the location represented by the respective one of the plurality of detection points; identifying a respective one of the plurality of elements being assigned to the identified respective one of the plurality of parts of the map environment; and assigning the identified respective one of the plurality of elements to the respective one of the plurality of detection points, and wherein the predefined map further comprises a plurality of distance values representing distances between the plurality of parts of the map environment being assigned to the plurality of elements, respectively, wherein the distance values are used for the matching.