Method, device and storage medium for infrastructure-assisted control of motor vehicle

The invention relates to a method for the infrastructure-assisted control of a motor vehicle, comprising the following steps: receiving an environment signal, which represents an environment of the motor vehicle, receiving a motor vehicle data signal, which represents motor vehicle data of the motor vehicle ascertained within the motor vehicle, a real state of the motor vehicle is ascertained on the basis of the environmental signal and the motor vehicle data signal, the motor vehicle is simulated on the basis of the environmental signal and a motor vehicle model of the motor vehicle in order to ascertain a simulated state of the motor vehicle, and the real state is compared with the simulated state. Ascertaining at least one control command for infrastructure-assisted control of the motor vehicle on the basis of the result of the comparison of the real state and the simulated state; and outputting a control command signal which represents the determined at least one control command. The invention also relate