Method and apparatus for determining the relative position of moving objects

Disclosed is a method for determining a relative position between a Egoobjekt (1) and a target object (2) that can be used in particular in moving vehicles. The method comprises the steps of: a) determining an autonomous relative position of the target object (2); b) searching for a (from the target object 2) emitted information on the position of the target object (2); c) if the information of the target object (2) is detected: i) determining a cooperative relative position of the target object (2) from the information; ii) determining the relative position of the target object (2) from a fusion of the autonomous relative position and the relative position of co-operative; d) if the information of the target object (2) is not detected: determining the relative position of the autonomous relative position.