A method for coordinating driving maneuvers between at least two motor vehicles, wherein at least one driving trajectory of a first motor vehicle and a driving trajectory of a second motor vehicle are continuously updated and continuously exchanged by means of vehicle-to-vehicle communication among the at least two motor vehicles in the vicinity of the motor vehicles, comprising following steps: a) Updating the driving trajectory of the first motor vehicle by means of a maneuver planning device of the first motor vehicle and the driving trajectory of the second motor vehicle by means of a maneuver planning device of the second motor vehicle and mutual transmission 120) of the driving trajectories between the two motor vehicles, b) comparing in a first comparison of both travel trajectories in the maneuver planning devices of both motor vehicles, c) determining, if a collision between the driving trajectory of the first motor vehicle and the driving trajectory of the second motor vehicle was determined in the first comparison, a priority motor vehicle that has priority for executing its driving trajectory, and a correspondingly non-priority motor vehicle among the first and the second motor vehicle with at least one evaluation criterion, characterized in that the method further comprises the following steps: d) planning of a first avoidance trajectory (22, 22a), which is collision-free with respect to a driving trajectory of the motor vehicle that does not have priority, using the maneuver planning device of the motor vehicle that has priority, the first avoidance trajectory (22, 22a) is optimized by minimizing a cost function of the priority motor vehicle, e) determining, using the maneuver planning device of the motor vehicle with priority, whether the cost function of the motor vehicle with priority falls below a cost limit value, f) Transmission (17 0), as soon as it has been determined that the cost limit of the motor vehicle with priority is not reached, the planned first avoidance trajectory as an updated travel trajectory of the motor vehicle with priority to the motor vehicle. a) Updating the driving trajectory of the first motor vehicle by means of a maneuver planning device of the first motor vehicle and the driving trajectory of the second motor vehicle by means of a maneuver planning device of the second motor vehicle and mutual transmission 120) of the driving trajectories between the two motor vehicles, b) comparing in a first comparison of both travel trajectories in the maneuver planning devices of both motor vehicles, c) determining, if a collision between the driving trajectory of the first motor vehicle and the driving trajectory of the second motor vehicle was determined in the first comparison, a priority motor vehicle that has priority for executing its driving trajectory, and a correspondingly non-priority motor vehicle among the first and the second motor vehicle with at least one evaluation criterion, d) planning of a first avoidance trajectory (22, 22a), which is collision-free with respect to a driving trajectory of the motor vehicle that does not have priority, using the maneuver planning device of the motor vehicle that has priority, the first avoidance trajectory (22, 22a) is optimized by minimizing a cost function of the priority motor vehicle, e) determining, using the maneuver planning device of the motor vehicle with priority, whether the cost function of the motor vehicle with priority falls below a cost limit value, f) Transmission (17 0), as soon as it has been determined that the cost limit of the motor vehicle with priority is not reached, the planned first avoidance trajectory as an updated travel trajectory of the motor vehicle with priority to the motor vehicle.