Method for determining visibility of a point of interest

A method for determining visibility of a point of interest, said method being implemented by processing means embedded in an ego motor vehicle, said method comprising:

• selecting or determining a point of interest;
• receiving navigation information comprising a three-dimensional map, location coordinates in at least two dimensions of a route or route portion remaining to be traveled, and coordinates in at least two dimensions of the current position of the vehicle;
• positioning the point of interest, the route or route portion remaining to be traveled, 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 belonging to said point of interest;
• representing, via an open broken line, the remaining route or route portion, by interconnecting points of change in orientation of the remaining route or route portion;
• tracing straight line segments having as first end points on the broken line, and as second end points on the polygon belonging to said point of interest;
• determining the visibility of the point of interest from start points formed by each of said segment first ends by determining the visibility of the point of interest for each of said segments;
• and
• determining an optimal visibility window,
• wherein, in the determining the visibility, a non-zero visibility of the point of interest between the two ends of the segment is conditional upon a non-intersection between said segment and an element of the three-dimensional map.