A method of detecting objects in an environment, comprising: - providing a predetermined number of radar devices, each configured to perform a sequence of detection cycles, each detection cycle comprising a transmission interval, in which the radar device transmits a predetermined electromagnetic signal in the environment for a transmission time (T t) that is common to all the radar devices, and a wait interval between two transmission intervals of consecutive detection cycles, wherein, for each radar device, the duration of the wait interval is equal to the sum of a base time (T b), that is common to all the radar devices, and a respective time delay (T d), wherein the time delays (T d) of the radar devices are different to each other and the base time (T b) is greater than each of the time delays (T d) of the radar devices, - during each detection cycle, receiving selectively, from each radar device, a positive output, indicating that the radar device is detecting an electromagnetic signal compatible with the presence of an object to be detected in the environment, or a negative output, indicating that the radar device is not detecting an electromagnetic signal compatible with the presence of an object to be detected in the environment, - determining that a radar device has detected an object only when said radar device has provided a positive output for a first number of consecutive detection cycles, which is at least equal to the predetermined number of radar devices characterized in that: - for each radar device, a positive output is generated at least in case a signal collision begins within a risk interval, which begins from the start of the transmission interval and lasts for a predetermined risk time (T r), which is shorter than the transmission time (Tt), - for each radar device, a negative output is generated at least in case the signal collision begins within the transmission interval but after the risk interval, and there are no objects to be detected in the environment, - the signal collision, for each radar device, being given by the radar device receiving, during its own transmission interval, the predetermined electromagnetic signal transmitted by another radar device, - wherein, for each pair of radar devices, the respective time delays (T d) differ at least by twice the risk time (T r), but by less than the transmission time (Tt). - providing a predetermined number of radar devices, each configured to perform a sequence of detection cycles, each detection cycle comprising a transmission interval, in which the radar device transmits a predetermined electromagnetic signal in the environment for a transmission time (T t) that is common to all the radar devices, and a wait interval between two transmission intervals of consecutive detection cycles, wherein, for each radar device, the duration of the wait interval is equal to the sum of a base time (T b), that is common to all the radar devices, and a respective time delay (T d), wherein the time delays (T d) of the radar devices are different to each other and the base time (T b) is greater than each of the time delays (T d) of the radar devices, - during each detection cycle, receiving selectively, from each radar device, a positive output, indicating that the radar device is detecting an electromagnetic signal compatible with the presence of an object to be detected in the environment, or a negative output, indicating that the radar device is not detecting an electromagnetic signal compatible with the presence of an object to be detected in the environment, - determining that a radar device has detected an object only when said radar device has provided a positive output for a first number of consecutive detection cycles, which is at least equal to the predetermined number of radar devices - for each radar device, a positive output is generated at least in case a signal collision begins within a risk interval, which begins from the start of the transmission interval and lasts for a predetermined risk time (T r), which is shorter than the transmission time (Tt), - for each radar device, a negative output is generated at least in case the signal collision begins within the transmission interval but after the risk interval, and there are no objects to be detected in the environment, - the signal collision, for each radar device, being given by the radar device receiving, during its own transmission interval, the predetermined electromagnetic signal transmitted by another radar device, - wherein, for each pair of radar devices, the respective time delays (T d) differ at least by twice the risk time (T r), but by less than the transmission time (Tt).