The invention relates to determination of a charging position of a charging device of a charging station. A charginging position for a vehicle (10) relative to a charging device (31) of a charging station (30) is determined by the following steps: detecting a mark of the charging station (30); driving the vehicle (10) to a first position according to the mark and a relative position, which indicates a position of the charging device (31) of the charging station (30) relative to the mark so as to arrange a charging device (11 ) of the vehicle (10) at a position of the charging device (31) of the charging station (30); and determining, from the first position, a second position of the vehicle (10) as a charging position by optimizing a coupling between the charging device (11) of the vehicle (10) and the charging device (31) of the charging station (30).