Apparatus, method, and computer program for a first vehicle and for estimating a position of a second vehicle at the first vehicle

An apparatus for a first transportation vehicle for estimating a position of a second transportation vehicle at the first transportation vehicle, the apparatus comprising:

• one or more interfaces to communicate messages;
• and
• a control module to control the one or more interfaces, wherein the control module is further configured to control the apparatus to estimate the position of the second transportation vehicle at the first transportation vehicle by:
• obtaining information on an environmental map of surroundings of the first transportation vehicle,
• receiving information on a trajectory of the second transportation vehicle, wherein the trajectory information includes information on a desired trajectory of the second transportation vehicle, and
• estimating a current position of the second transportation vehicle in the environmental map based on fitting the received trajectory information in the environmental map.