A method for performing a cooperative driving maneuver and a vehicle. The method performs a cooperative driving maneuver which includes determining, by a first vehicle, a driving maneuver to be carried out； receiving maneuver information pertaining to a planned driving maneuver of a second vehicle by the first vehicle receiving surroundings information by the first vehicle, stipulating, by the first vehicle based on the received maneuver information and the received surroundings information, a maneuver trajectory for the driving maneuver to be carried out, and performing the driving maneuver by the first vehicle using the stipulated maneuver trajectory. Also disclosed is a way for vehicles to be better able to interpret received information pertaining to a planned driving maneuver of another vehicle to increase safety for the performance of a cooperative driving maneuver.
