Method for hazard detection and/or collision avoidance of a moving vehicle with at least one moving object, wherein the at least one moving object is visually obscured or not visible in a straight line of sight from the vehicle at a first point in time and is visible or detectable from the vehicle at a second point in time, wherein the vehicle comprises at least one LOS sensor, line-of-sight sensor, and at least one acoustic NLOS sensor, non-line-of-sight sensor, wherein the method comprises the following method steps: - in a first step, first sensor signals are generated at the first point in time by means of the at least one acoustic NLOS sensor, wherein - after evaluation of the first sensor signals - the moving object is detected, wherein data relating to the position and/or movement direction and/or speed and/or size of the moving object are determined or calculated, - in a second step, the moving object is detected and/or recognised at the second point in time by means of second sensor signals generated by the at least one LOS sensor, on the basis of the data relating to the position and/or movement direction and/or speed and/or size of the moving object, wherein the data relating to the position and/or movement direction and/or speed and/or size of the moving object are determined or calculated outside the vehicle wherein, in order to determine or calculate outside the vehicle the data relating to the position and/or movement direction and/or speed and/or size of the moving object, at least a portion of the first sensor signals generated at the first point in time is transmitted to an edge cloud device of a telecommunications network by means of a communications interface of the vehicle and the calculated data relating to the position and/or movement direction and/or speed and/or size of the moving object are transmitted to the vehicle by means of the communications interface, wherein the calculated data received via the communications interface of the vehicle and relating to the position and/or movement direction and/or speed and/or size of the moving object in the vehicle are used in order to prepare the at least one LOS sensor or the evaluation logic thereof for the detection and/or recognition of the moving object. - in a first step, first sensor signals are generated at the first point in time by means of the at least one acoustic NLOS sensor, wherein - after evaluation of the first sensor signals - the moving object is detected, wherein data relating to the position and/or movement direction and/or speed and/or size of the moving object are determined or calculated, - in a second step, the moving object is detected and/or recognised at the second point in time by means of second sensor signals generated by the at least one LOS sensor, on the basis of the data relating to the position and/or movement direction and/or speed and/or size of the moving object, wherein the data relating to the position and/or movement direction and/or speed and/or size of the moving object are determined or calculated outside the vehicle wherein, in order to determine or calculate outside the vehicle the data relating to the position and/or movement direction and/or speed and/or size of the moving object, at least a portion of the first sensor signals generated at the first point in time is transmitted to an edge cloud device of a telecommunications network by means of a communications interface of the vehicle and the calculated data relating to the position and/or movement direction and/or speed and/or size of the moving object are transmitted to the vehicle by means of the communications interface, wherein the calculated data received via the communications interface of the vehicle and relating to the position and/or movement direction and/or speed and/or size of the moving object in the vehicle are used in order to prepare the at least one LOS sensor or the evaluation logic thereof for the detection and/or recognition of the moving object.