A method comprising: receiving a broadcast signal from a target vehicle at a first antenna having only two elements and at a second antenna having only two elements, the first antenna being located on an upper surface of an own vehicle, the second antenna being located on a lower surface of the own vehicle; calculating (92, 100, 110) bearing angle of the target vehicle based on signal strength of the received broadcast signal and configuration of the first and second antennae; and outputting (96, 102, 112) the calculated bearing angle, characterized in that: wherein receiving comprises measuring phase and amplitude of the broadcast signal at each element, and wherein calculating comprises: calculating at least one of signal-to-noise ratio,SNR, a signal phase variance, or an estimated elevation angle at the first and second antennae based on the measured phase and amplitude, and calculating (92, 100, 104) a critical angle, a quadrant difference based on the critical angle, a first bearing angle, and a second bearing angle based on at least one of the calculated SNR, the signal phase variance, or the estimated elevation angle, if the SNR of the first antenna is greater than the SNR of the second antenna. receiving a broadcast signal from a target vehicle at a first antenna having only two elements and at a second antenna having only two elements, the first antenna being located on an upper surface of an own vehicle, the second antenna being located on a lower surface of the own vehicle; calculating (92, 100, 110) bearing angle of the target vehicle based on signal strength of the received broadcast signal and configuration of the first and second antennae; and outputting (96, 102, 112) the calculated bearing angle, characterized in that: wherein receiving comprises measuring phase and amplitude of the broadcast signal at each element, and wherein calculating comprises: calculating at least one of signal-to-noise ratio,SNR, a signal phase variance, or an estimated elevation angle at the first and second antennae based on the measured phase and amplitude, and calculating (92, 100, 104) a critical angle, a quadrant difference based on the critical angle, a first bearing angle, and a second bearing angle based on at least one of the calculated SNR, the signal phase variance, or the estimated elevation angle, if the SNR of the first antenna is greater than the SNR of the second antenna. wherein receiving comprises measuring phase and amplitude of the broadcast signal at each element, and wherein calculating comprises: calculating at least one of signal-to-noise ratio,SNR, a signal phase variance, or an estimated elevation angle at the first and second antennae based on the measured phase and amplitude, and calculating (92, 100, 104) a critical angle, a quadrant difference based on the critical angle, a first bearing angle, and a second bearing angle based on at least one of the calculated SNR, the signal phase variance, or the estimated elevation angle, if the SNR of the first antenna is greater than the SNR of the second antenna. calculating at least one of signal-to-noise ratio,SNR, a signal phase variance, or an estimated elevation angle at the first and second antennae based on the measured phase and amplitude, and calculating (92, 100, 104) a critical angle, a quadrant difference based on the critical angle, a first bearing angle, and a second bearing angle based on at least one of the calculated SNR, the signal phase variance, or the estimated elevation angle, if the SNR of the first antenna is greater than the SNR of the second antenna.