A method of controlling an autonomous vehicle (10, 10') which has an optical sensor for detecting objects (20, 20', 20") in a detection zone of the sensor, wherein the optical sensor has at least one 3D camera, preferably a TOF (time of flight) camera, comprising an illumination unit and an image sensor, wherein the method comprises: - determining measurement values (22, 22', 22") of the detection zone, wherein the measurement values (22, 22', 22") at least comprise distance values, and wherein the measurement values (22, 22', 22") are determined separately for individual picture elements of the image sensor and, in addition to the distance values, comprise intensity values of the detection zone which are determined using the optical sensor; - determining object detection data at least comprising measurement values (22, 22', 22") of the detection zone which are determined when objects (20, 20', 20", 24, 24') are located in the detection zone and the detection zone is preferably exposed to radiation transmitted by the illumination unit; - determining reference detection data at least comprising measurement values (22, 22', 22") of the detection zone which are determined when no object (20, 20', 20", 24, 24') is located in the detection zone and/or the detection zone is not exposed to radiation transmitted by the illumination unit; - determining model objects (26, 26') on the basis of the measurement values (22, 22', 22") to detect objects (20, 20', 20", 24, 24') in the detection zone, wherein a respective object (20, 20', 20", 24, 24') is represented by a respective model object (26, 26'), and wherein the determination of model objects (26, 26') takes place on the basis of the object detection data and the reference detection data; - estimating a movement vector (72, 72') on the basis of the respective model object (26, 26'), wherein the movement vector (72, 72') represents a movement of the respective object (20, 20', 20", 24, 24'); and - controlling the autonomous vehicle (10, 10') on the basis of the movement vector (72, 72'). - determining measurement values (22, 22', 22") of the detection zone, wherein the measurement values (22, 22', 22") at least comprise distance values, and wherein the measurement values (22, 22', 22") are determined separately for individual picture elements of the image sensor and, in addition to the distance values, comprise intensity values of the detection zone which are determined using the optical sensor; - determining object detection data at least comprising measurement values (22, 22', 22") of the detection zone which are determined when objects (20, 20', 20", 24, 24') are located in the detection zone and the detection zone is preferably exposed to radiation transmitted by the illumination unit; - determining reference detection data at least comprising measurement values (22, 22', 22") of the detection zone which are determined when no object (20, 20', 20", 24, 24') is located in the detection zone and/or the detection zone is not exposed to radiation transmitted by the illumination unit; - determining model objects (26, 26') on the basis of the measurement values (22, 22', 22") to detect objects (20, 20', 20", 24, 24') in the detection zone, wherein a respective object (20, 20', 20", 24, 24') is represented by a respective model object (26, 26'), and wherein the determination of model objects (26, 26') takes place on the basis of the object detection data and the reference detection data; - estimating a movement vector (72, 72') on the basis of the respective model object (26, 26'), wherein the movement vector (72, 72') represents a movement of the respective object (20, 20', 20", 24, 24'); and - controlling the autonomous vehicle (10, 10') on the basis of the movement vector (72, 72').