A method for the recognition of objects in a traffic space by means of a radar sensor system arranged at or in a host vehicle , comprising the steps: (i) transmitting a primary radar signal into the traffic space , (ii) receiving a secondary radar signal reflected by at least one object , and (iii) identifying a plurality of single detections corresponding to object surface spots detected by the radar sensor system , wherein the positions of the single detections in a Range-Doppler-map are determined, wherein the Range-Doppler-map has a range axis representing the distance between the radar sensor system and the respective object surface spot and a Doppler axis representing the Doppler shift of the secondary radar signal as reflected by the respective object surface spot relative to the primary radar signal, and wherein (iv) at least a region of the Range-Doppler map is divided into a plurality of adjacent evaluation regions separated by separation lines , wherein the separation lines extend parallel to one of the range axis and the Doppler axis , (v) for each evaluation region , at least one selected detection is determined which has, among the detections present in the respective evaluation region , an extremal value with respect to the other axis of the range axis and the Doppler axis , and (vi) a boundary of the at least one object is determined based on the selected detections , wherein the separation lines extend parallel to the range axis and in step (v), a selected detection is determined which has, among the detections present in the respective evaluation region , the lowest range value, or wherein the separation lines extend parallel to the Doppler axis and in step (v), a selected detection is determined which has, among the detections present in the respective evaluation region , the highest or lowest Doppler value. (i) transmitting a primary radar signal into the traffic space , (ii) receiving a secondary radar signal reflected by at least one object , and (iii) identifying a plurality of single detections corresponding to object surface spots detected by the radar sensor system , wherein the positions of the single detections in a Range-Doppler-map are determined, wherein the Range-Doppler-map has a range axis representing the distance between the radar sensor system and the respective object surface spot and a Doppler axis representing the Doppler shift of the secondary radar signal as reflected by the respective object surface spot relative to the primary radar signal, and wherein (iv) at least a region of the Range-Doppler map is divided into a plurality of adjacent evaluation regions separated by separation lines , wherein the separation lines extend parallel to one of the range axis and the Doppler axis , (v) for each evaluation region , at least one selected detection is determined which has, among the detections present in the respective evaluation region , an extremal value with respect to the other axis of the range axis and the Doppler axis , and (vi) a boundary of the at least one object is determined based on the selected detections , wherein the separation lines extend parallel to the range axis and in step (v), a selected detection is determined which has, among the detections present in the respective evaluation region , the lowest range value, or wherein the separation lines extend parallel to the Doppler axis and in step (v), a selected detection is determined which has, among the detections present in the respective evaluation region , the highest or lowest Doppler value. <EOS>