The hold-up, which resembles the plot of a Hollywood action movie, took place Thursday near the French-Swiss border.
It began in the evening in the southeastern French city of Lyon, where two men pretending to be plumbers kidnapped a young woman from her apartment, a source close to the investigation told AFP.
They bundled her into a car and then had accomplices ring her father, who works for a Swiss company that transports money between companies and banks, to demand a ransom.
He agreed to meet the kidnappers in a car park just across the border on the Swiss side, to hand over the van's contents, investigators said.
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Police in the Swiss canton of Vaud said that the father was en route to the Swiss city of Lausanne when he was forced to exit the motorway and head for the car park where he was met by robbers wearing gloves and balaclavas.
"There, several armed men who were awaiting the van made him park it. They then held up the delivery drivers, completely emptied the van's contents and fled in a dark- coloured Porsche SUV," the Swiss police said in a statement Friday.
A spokesman for the police in Vaud refused to confirm the amount.
The driver's daughter, who is in her twenties, was found unharmed at around 10 pm (2100 GMT) on a road on the outskirts of Lyon.
She was questioned by police today and said to be still in a state of shock.
"We have no reason to question her story," a French source with knowledge of the investigation said, adding that police suspected a criminal gang.
No arrests have been made yet in the probe, which is being led by French police.
"Many details remain unexplained," the French source said, adding that the investigation was expected to take some time.
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