A vehicle tracking system is described comprising - a plurality of sensor nodes (10) that each provide a message (D) indicative for an occupancy status of a detection area of an vehicle infrastructure monitored by said sensor node, said sensor nodes (10) being arranged in the vehicle infrastructure (80) at a density of at least 0.2 per square meter. - a map-integrator with - an vehicle database facility comprising state information of vehicles present at the vehicle infrastructure, and a database updating facility (DBU) for updating the database facility (32, 34) on the basis of messages (D) provided by the sensor nodes.