Method and system for guiding an autonomous vehicle

A method for guiding a self-driving vehicle:

• the vehicle comprising an ultrasound-based proximity sensing system comprising a plurality of ultrasound sensors and a communication device for communication with a traffic control unit;
• the method comprising:
• determining a location and an orientation of the vehicle in a predetermined coordinate system;
• in the vehicle, receiving a predetermined route from the traffic control unit;
• by a vehicle control unit, controlling the vehicle to travel along the predetermined route while estimating a vehicle travel path;
• receiving an ultrasound signal from a beacon having a known location in the predetermined coordinate system, wherein the ultrasound signal transmitted by the beacon uniquely identifies the beacon having the known location;
• determining a relative position of the vehicle in relation to the beacon by means of ultrasound signals transmitted between the beacon and the vehicle;
• determining a location of the vehicle in the predetermined coordinate system based on the determined relative position of the vehicle and the beacon having the known location;
• and
• controlling the vehicle to act as a stationary ultrasound beacon for a second vehicle.