A method for determining the position of a vehicle equipped with a control and processing unit for carrying out the method and a radar system, wherein the radar system includes at least one radar sensor adapted to receive radar signals emitted from at least one radar emitter of the radar system and reflected from an object in a vicinity of the vehicle towards the radar sensor, wherein the method comprises: (i) successively acquiring radar scans respectively comprising a plurality of radar detection points (16, 60), wherein each radar detection point (16, 60) is evaluated from a radar signal received at the radar sensor and representing a location in the vicinity of the vehicle, (ii) determining, from a database, a predefined navigation map comprising at least one element representing a static landmark in the vicinity of the vehicle, (iii) matching at least a subset of the plurality of radar detection points (16, 60) of a radar scan and the at least one element of the navigation map, and (iv) determining the position of the vehicle based on the matching, wherein radar detection points (16, 60) of successive scans are collected over a time period and a feature map of the vicinity of the vehicle is created, wherein the feature map comprises a plurality of detection features of the collected radar detection points (16, 60), wherein a classifier is applied to the feature map to determine temporarily occupied regions which are, with a predefined probability, occupied by temporarily present objects not recorded in the navigation map, and wherein in step (iii), radar detection points (16, 60) which are located in a temporarily occupied region are considered to a lesser extent than radar detection points (16, 60) which are not located in a temporarily occupied region, wherein the feature map has 4-20 feature layers which are derived from the detection features, wherein the determined detection features include the number and the signal amplitude of radar detection points (16, 60) collected over the time period and wherein the determined detection features include features derived from height information and/or polarization information. (i) successively acquiring radar scans respectively comprising a plurality of radar detection points (16, 60), wherein each radar detection point (16, 60) is evaluated from a radar signal received at the radar sensor and representing a location in the vicinity of the vehicle, (ii) determining, from a database, a predefined navigation map comprising at least one element representing a static landmark in the vicinity of the vehicle, (iii) matching at least a subset of the plurality of radar detection points (16, 60) of a radar scan and the at least one element of the navigation map, and (iv) determining the position of the vehicle based on the matching, wherein a classifier is applied to the feature map to determine temporarily occupied regions which are, with a predefined probability, occupied by temporarily present objects not recorded in the navigation map, and wherein in step (iii), radar detection points (16, 60) which are located in a temporarily occupied region are considered to a lesser extent than radar detection points (16, 60) which are not located in a temporarily occupied region, wherein the feature map has 4-20 feature layers which are derived from the detection features, wherein the determined detection features include the number and the signal amplitude of radar detection points (16, 60) collected over the time period and wherein the determined detection features include features derived from height information and/or polarization information.