Method for determining at least one spatial position or kinematic parameter, such as the trajectory, speed or acceleration, of at least one target object in the environment of a vehicle, said vehicle being equipped with at least one camera for capturing images of the environment of said vehicle, comprising: - a step of capturing at least one image of the environment of the vehicle comprising the road on which the vehicle and the target object are travelling, characterized in that it furthermore comprises the following steps: - determining, in said at least one image, the spatial distribution of at least three substantially identical and regularly spaced elements, and determining at least one target object; and - determining at least one spatial position or kinematic parameter of said target object based on said spatial distribution of at least three substantially identical and regularly spaced elements, in that the step of determining the spatial distribution of at least three substantially identical and regularly spaced elements and of determining at least one target object contained in said at least one image comprises the following steps: - E21: detecting at least three substantially identical elements and a target object that are contained in said image, and grouping said at least three substantially identical elements into at least one class, - E22: determining the spatial position of at least three substantially identical elements in said at least one class, - E23: determining at least one class comprising at least three substantially identical elements that are regularly spaced among said at least one class, and in that, during the step of determining at least one spatial position or kinematic parameter of said target object, said target object is projected onto the plane of the road and the position of this projection is compared with the positions of the substantially identical regularly spaced elements determined in step E23. - a step of capturing at least one image of the environment of the vehicle comprising the road on which the vehicle and the target object are travelling, characterized in that it furthermore comprises the following steps: - determining, in said at least one image, the spatial distribution of at least three substantially identical and regularly spaced elements, and determining at least one target object; and - determining at least one spatial position or kinematic parameter of said target object based on said spatial distribution of at least three substantially identical and regularly spaced elements, - determining, in said at least one image, the spatial distribution of at least three substantially identical and regularly spaced elements, and determining at least one target object; and - determining at least one spatial position or kinematic parameter of said target object based on said spatial distribution of at least three substantially identical and regularly spaced elements, in that the step of determining the spatial distribution of at least three substantially identical and regularly spaced elements and of determining at least one target object contained in said at least one image comprises the following steps: - E21: detecting at least three substantially identical elements and a target object that are contained in said image, and grouping said at least three substantially identical elements into at least one class, - E22: determining the spatial position of at least three substantially identical elements in said at least one class, - E23: determining at least one class comprising at least three substantially identical elements that are regularly spaced among said at least one class, - E21: detecting at least three substantially identical elements and a target object that are contained in said image, and grouping said at least three substantially identical elements into at least one class, - E22: determining the spatial position of at least three substantially identical elements in said at least one class, - E23: determining at least one class comprising at least three substantially identical elements that are regularly spaced among said at least one class, and in that, during the step of determining at least one spatial position or kinematic parameter of said target object, said target object is projected onto the plane of the road and the position of this projection is compared with the positions of the substantially identical regularly spaced elements determined in step E23.