Autonomous vehicle position determination system for determining a position of a remote vehicle relative to a mobile carrier vehicle on the basis of security alert messages

Autonomous vehicle position determination system for determining a position of a remote vehicle relative to a mobile carrier vehicle on the basis of security alarm messages that are broadcast from the remote vehicle with respect to an event in a route, the system comprising: a carrier vehicle communication unit that communicates with the remote vehicle to receive the broadcast messages from the remote vehicle; a carrier vehicle control unit to identify the reference points along the route, wherein each reference point identifies a position of the host vehicle and a signal receiving property, when the host vehicle receives the broadcast message; and wherein the control unit of the carrier vehicle selects a set of the reference points with the identified positions and associated signal reception characteristics, wherein the control unit, the signal receiving characteristics of each reference point, associated with a received broadcast message is used, and wherein said control unit to a position of the remote vehicle as a function of the signal reception characteristics each selected reference point determined in the set and the control unit further determines whether the remote vehicle having at each selected reference point in the set the same position, wherein the control unit detects a malfunction by the remote vehicle when the remote vehicle is not on any selected reference point in the set having the same position.