Apparatus for avoiding a collision for a vehicle, comprising: one or more first environmental sensors, the measurement data from which provide an item of information relating to a distance from objects (3, 4) in the environment of the vehicle, and an evaluation and merging device which uses the measurement data from the one or more first environmental sensors to determine an environmental map for the vehicle, on the basis of which map a probability statement for an existence of an object (3, 4) in individual regions in the environment of the vehicle can be respectively derived for these individual regions, the environmental map being able to be used to derive a probability statement for at least one marked region (161, 162) which, for a collision-free movement of a vehicle component, is not in the current measurement range of the one or more first environmental sensors when the vehicle is at a standstill, and a prediction device which is designed to determine and provide control and/or warning information for a collision-free predicted movement of a vehicle component (61, 62) on the basis of the environmental map, the collision-free nature of the predicted movement being dependent on the probability of the existence of an object (4, 5) in the at least one marked region (161, 162), characterized in that at least one second environmental sensor is coupled to the evaluation and merging device and is designed to detect a movement of an object relative to the vehicle when the vehicle is at a standstill at least in an area of the environment of the vehicle which comprises the at least one marked region, and the evaluation and merging device is designed to change the environmental map, if a movement is detected in the one area, in such a manner that at least the probability which can be derived from the environmental map for the at least one marked region is changed. one or more first environmental sensors, the measurement data from which provide an item of information relating to a distance from objects (3, 4) in the environment of the vehicle, and an evaluation and merging device which uses the measurement data from the one or more first environmental sensors to determine an environmental map for the vehicle, on the basis of which map a probability statement for an existence of an object (3, 4) in individual regions in the environment of the vehicle can be respectively derived for these individual regions, the environmental map being able to be used to derive a probability statement for at least one marked region (161, 162) which, for a collision-free movement of a vehicle component, is not in the current measurement range of the one or more first environmental sensors when the vehicle is at a standstill, and a prediction device which is designed to determine and provide control and/or warning information for a collision-free predicted movement of a vehicle component (61, 62) on the basis of the environmental map, the collision-free nature of the predicted movement being dependent on the probability of the existence of an object (4, 5) in the at least one marked region (161, 162), characterized in that at least one second environmental sensor is coupled to the evaluation and merging device and is designed to detect a movement of an object relative to the vehicle when the vehicle is at a standstill at least in an area of the environment of the vehicle which comprises the at least one marked region, and the evaluation and merging device is designed to change the environmental map, if a movement is detected in the one area, in such a manner that at least the probability which can be derived from the environmental map for the at least one marked region is changed.