A method for the recognition of objects in a traffic space by means of a radar sensor system arranged at or in a host vehicle, comprising the steps: (i) transmitting a primary radar signal into the traffic space, (ii) receiving a secondary radar signal reflected by at least one object, and (iii) identifying a plurality of single detections corresponding to object surface spots detected by the radar sensor system, wherein the positions of the single detections in a Range-Doppler-map are determined, wherein the Range-Doppler-map has a range axis representing the distance between the radar sensor system and the respective object surface spot and a Doppler axis representing the Doppler shift of the secondary radar signal as reflected by the respective object surface spot relative to the primary radar signal, and wherein (iv) at least a region of the Range-Doppler map is divided into a plurality of adjacent evaluation regions (40, 40') separated by separation lines (41, 51), wherein the separation lines (41, 51) extend parallel to one of the range axis and the Doppler axis, (v) for each evaluation region (41, 51), at least one selected detection is determined which has, among the detections present in the respective evaluation region (40, 40'), an extremal value with respect to the other axis of the range axis and the Doppler axis, and (vi) a boundary of the at least one object is determined based on the selected detections, wherein the separation lines (41, 51) extend parallel to the range axis and in step (v), a selected detection is determined which has, among the detections present in the respective evaluation region (40, 40'), the lowest range value, or wherein the separation lines (41, 51) extend parallel to the Doppler axis and in step (v), a selected detection is determined which has, among the detections present in the respective evaluation region (40, 40'), the highest or lowest Doppler value. (i) transmitting a primary radar signal into the traffic space, (ii) receiving a secondary radar signal reflected by at least one object, and (iii) identifying a plurality of single detections corresponding to object surface spots detected by the radar sensor system, wherein the positions of the single detections in a Range-Doppler-map are determined, wherein the Range-Doppler-map has a range axis representing the distance between the radar sensor system and the respective object surface spot and a Doppler axis representing the Doppler shift of the secondary radar signal as reflected by the respective object surface spot relative to the primary radar signal, and wherein (iv) at least a region of the Range-Doppler map is divided into a plurality of adjacent evaluation regions (40, 40') separated by separation lines (41, 51), wherein the separation lines (41, 51) extend parallel to one of the range axis and the Doppler axis, (v) for each evaluation region (41, 51), at least one selected detection is determined which has, among the detections present in the respective evaluation region (40, 40'), an extremal value with respect to the other axis of the range axis and the Doppler axis, and (vi) a boundary of the at least one object is determined based on the selected detections, wherein the separation lines (41, 51) extend parallel to the range axis and in step (v), a selected detection is determined which has, among the detections present in the respective evaluation region (40, 40'), the lowest range value, or wherein the separation lines (41, 51) extend parallel to the Doppler axis and in step (v), a selected detection is determined which has, among the detections present in the respective evaluation region (40, 40'), the highest or lowest Doppler value.