The disclosure relates to a method for operating a partially autonomous or autonomous motor vehicle. A digital three-dimensional height model of an infrastructure interior which has at least one aisle that can be traversed by the motor vehicle can be provided by a data server device of the infrastructure for example. The height model describes a spatial situation within the infrastructure, and the topography of at least one section of a surface of a region of the infrastructure, said motor vehicle being located in the section, is detected by means of a sensor device of the motor vehicle. A controller of the motor vehicle generates a three-dimensional topographical map of the region by means of the height model using the ascertained topography. The controller ascertains the current position of the motor vehicle within the infrastructure using the result of the comparison, and the controller ascertains a route along the at least one aisle using the ascertained current position and the height model.