Method for evaluating an object height by means of ultrasonic signals detected by an ultrasonic sensor arranged on a vehicle, characterized by the steps of • in a measurement cycle: a. detecting a first ultrasonic signal as an edge reflection or as a direct-path echo of an object; b. calculating an expected window for an associated object-ground interface reflection, wherein the expected window is calculated based on a delay time of the first ultrasonic signal, the installation height (h) of the ultrasonic sensor and a height threshold value; c. detecting a second ultrasonic signal; d. if the second ultrasonic signal is detected in the expected window, identifying the second ultrasonic signal as the object-ground interface reflection associated with the first ultrasonic signal and combining the first ultrasonic signal and the second ultrasonic signal in one signal group; e. determining a first significance of the first ultrasonic signal and determining a second significance of the second ultrasonic signal, wherein the significance of each detected ultrasonic signal (13, 14) indicates a probability that the detected ultrasonic signal (13, 14) is a reflection of an emitted ultrasonic signal at at least one object; f. assigning the signal group to an object in the vehicle environment; g. comparing the first significance with the second significance and, depending on the comparison, assigning the signal group to a first echo group or to a second echo group; • determining a first rate of the assignment of a signal group to the first echo group over a particular number of measurement cycles (21, 22, 23, 24, 25); • determining a second rate of the assignment of a signal group to the second echo group over the particular number of measurement cycles (21, 22, 23, 24, 25); • depending on the first rate and the second rate, evaluating the object height to determine whether the object can or cannot be driven over safely by the vehicle. • in a measurement cycle: a. detecting a first ultrasonic signal as an edge reflection or as a direct-path echo of an object; b. calculating an expected window for an associated object-ground interface reflection, wherein the expected window is calculated based on a delay time of the first ultrasonic signal, the installation height (h) of the ultrasonic sensor and a height threshold value; c. detecting a second ultrasonic signal; d. if the second ultrasonic signal is detected in the expected window, identifying the second ultrasonic signal as the object-ground interface reflection associated with the first ultrasonic signal and combining the first ultrasonic signal and the second ultrasonic signal in one signal group; e. determining a first significance of the first ultrasonic signal and determining a second significance of the second ultrasonic signal, wherein the significance of each detected ultrasonic signal (13, 14) indicates a probability that the detected ultrasonic signal (13, 14) is a reflection of an emitted ultrasonic signal at at least one object; f. assigning the signal group to an object in the vehicle environment; g. comparing the first significance with the second significance and, depending on the comparison, assigning the signal group to a first echo group or to a second echo group; a. detecting a first ultrasonic signal as an edge reflection or as a direct-path echo of an object; b. calculating an expected window for an associated object-ground interface reflection, wherein the expected window is calculated based on a delay time of the first ultrasonic signal, the installation height (h) of the ultrasonic sensor and a height threshold value; c. detecting a second ultrasonic signal; d. if the second ultrasonic signal is detected in the expected window, identifying the second ultrasonic signal as the object-ground interface reflection associated with the first ultrasonic signal and combining the first ultrasonic signal and the second ultrasonic signal in one signal group; e. determining a first significance of the first ultrasonic signal and determining a second significance of the second ultrasonic signal, wherein the significance of each detected ultrasonic signal (13, 14) indicates a probability that the detected ultrasonic signal (13, 14) is a reflection of an emitted ultrasonic signal at at least one object; f. assigning the signal group to an object in the vehicle environment; g. comparing the first significance with the second significance and, depending on the comparison, assigning the signal group to a first echo group or to a second echo group; • determining a first rate of the assignment of a signal group to the first echo group over a particular number of measurement cycles (21, 22, 23, 24, 25); • determining a second rate of the assignment of a signal group to the second echo group over the particular number of measurement cycles (21, 22, 23, 24, 25); • depending on the first rate and the second rate, evaluating the object height to determine whether the object can or cannot be driven over safely by the vehicle.