Abstract: A method embedded in an ego motor vehicle determines the visibility of a point of interest. The method includes positioning the point of interest, the remaining planned route, and the coordinates of the current location of the vehicle in the three-dimensional map, representing the point of interest by a polygon having at least three vertices of given coordinates in three dimensions, representing, via an open broken line, the remaining planned route, by interconnecting points of change in orientation of the remaining planned route, tracing straight line segments having as first end points on the broken line, and as second end points on the polygon, determining the visibility of the point of interest from the first end of the segment, and determining an optimal visibility window.