Method for collision avoidance of a motor vehicle with an emergency vehicle, the method including: - optically detecting the surroundings of the motor vehicle by means of an optical detection arrangement of the motor vehicle, - acoustically detecting the wider surroundings of the motor vehicle by means of an acoustic detection arrangement of the motor vehicle, wherein the wider surroundings include the surroundings and go spatially beyond a spatial extent of the surroundings in terms their extent, - determining traffic users in the surroundings, - investigating the wider surroundings for a signal, wherein the signal is indicative of an emergency signal of an emergency vehicle, - determining a trajectory of motion for each traffic user determined, and - if the investigation of the wider surroundings detects a corresponding emergency signal: - investigating the determined trajectories of motion for a swarming behaviour, wherein the swarming behaviour is indicative of a hazardous situation in the surroundings, and - if the investigation of the determined trajectories of motion determines a corresponding hazardous situation in the surroundings: - locating a position of the emergency vehicle, - determining a trajectory of motion for the emergency vehicle based on the located position of the emergency vehicle and the determined trajectories of motion of the traffic users, - anticipating whether a collision of the motor vehicle with the emergency vehicle will occur for a current trajectory of motion of the motor vehicle and based on the determined trajectory of motion for the emergency vehicle, and - if the anticipation gives the result that the collision will occur: - outputting a corresponding warning to a user of the motor vehicle. - optically detecting the surroundings of the motor vehicle by means of an optical detection arrangement of the motor vehicle, - acoustically detecting the wider surroundings of the motor vehicle by means of an acoustic detection arrangement of the motor vehicle, wherein the wider surroundings include the surroundings and go spatially beyond a spatial extent of the surroundings in terms their extent, - determining traffic users in the surroundings, - investigating the wider surroundings for a signal, wherein the signal is indicative of an emergency signal of an emergency vehicle, - determining a trajectory of motion for each traffic user determined, and - if the investigation of the wider surroundings detects a corresponding emergency signal: - investigating the determined trajectories of motion for a swarming behaviour, wherein the swarming behaviour is indicative of a hazardous situation in the surroundings, and - if the investigation of the determined trajectories of motion determines a corresponding hazardous situation in the surroundings: - locating a position of the emergency vehicle, - determining a trajectory of motion for the emergency vehicle based on the located position of the emergency vehicle and the determined trajectories of motion of the traffic users, - anticipating whether a collision of the motor vehicle with the emergency vehicle will occur for a current trajectory of motion of the motor vehicle and based on the determined trajectory of motion for the emergency vehicle, and - if the anticipation gives the result that the collision will occur: - outputting a corresponding warning to a user of the motor vehicle. - investigating the determined trajectories of motion for a swarming behaviour, wherein the swarming behaviour is indicative of a hazardous situation in the surroundings, and - if the investigation of the determined trajectories of motion determines a corresponding hazardous situation in the surroundings: - locating a position of the emergency vehicle, - determining a trajectory of motion for the emergency vehicle based on the located position of the emergency vehicle and the determined trajectories of motion of the traffic users, - anticipating whether a collision of the motor vehicle with the emergency vehicle will occur for a current trajectory of motion of the motor vehicle and based on the determined trajectory of motion for the emergency vehicle, and - if the anticipation gives the result that the collision will occur: - outputting a corresponding warning to a user of the motor vehicle. - locating a position of the emergency vehicle, - determining a trajectory of motion for the emergency vehicle based on the located position of the emergency vehicle and the determined trajectories of motion of the traffic users, - anticipating whether a collision of the motor vehicle with the emergency vehicle will occur for a current trajectory of motion of the motor vehicle and based on the determined trajectory of motion for the emergency vehicle, and - if the anticipation gives the result that the collision will occur: - outputting a corresponding warning to a user of the motor vehicle. - outputting a corresponding warning to a user of the motor vehicle.