The invention relates to a method for determining a vehicle position of a vehicle to be located within a defined cruising range in a mapped environment, wherein the vehicle position is determined by evaluating the position data of at least one predetermined component of the vehicle, and the position data are made available particularly by way of a plurality of position detecting sensors, which are fixedly arranged within the mapped environment. The invention further relates to a corresponding device for determining a position of a vehicle. This allows piloted driving in a parking garage, for example.