A method for generating or calculating an at least two-dimensional map of an environmental model as a first table and/or matrix and/or database by a sensor system of at least a first vehicle and a second vehicle pivotably coupled to one another, the sensor system comprising at least a first sensor and a second sensor positioned on the first vehicle and the second vehicle, respectively, wherein the first sensor and the second sensor capture different environmental areas, and an electronic controller connected to the first sensor and the second sensor, the method performed by the electronic controller and comprising:
- receiving corresponding sensor data with a corresponding item of time information from each of the first sensor and the second sensor;
- synchronizing the corresponding item of time information from each of the first sensor and the second sensor;
- jointly evaluating output data from the first sensor and the second sensor;
- generating an environmental model by considering a relative positioning of each of the first sensor and the second sensor;
- and
- calculating a position of at least one of the first vehicle and the second vehicle at least from the output data from the first sensor and the second sensor and the data from the at least two-dimensional map of the environmental model.