Method for determining distances to an object to be measured based on the principle of triangulation, comprising • generating and emitting a measuring light beam , • directing the measuring light beam to the object to be measured, • detecting a reflection of the measuring light from the object with respective pixels of an image sensor during a defined detection sequence, wherein the image sensor is designed as a high dynamic range, HDR, sensor, and • deriving distance information based on the detected reflection, characterised in that • the detection sequence (t 0 -t e ) comprises a number of at least two exposure sub-sequences each defining a particular exposure period (t 0 -t 1 , t 1 -t 2 , t 2 -t e ) and saturation limit for the pixels of the image sensor, wherein □ a successive exposure sub-sequence comprises a higher saturation limit than its prior exposure sub-sequence and □ each saturation limit defines a maximum charging level of the pixels for the respective exposure sub-sequence, • the pixels are at least partly exposed by the reflected measuring light whereby the charge of each exposed pixel changes, • the charge of each pixel reaching at least one of the maximum charging levels during the detection sequence (t 0 -t e ) is limited or reset according to the respective saturation limit for the period of the corresponding exposure sub-sequence, • the measuring light beam is provided by a defined number of light pulses corresponding to the number of exposure sub-sequences of the detection sequence (t 0 t e ) and • the exposure sub-sequences and the light pulses are temporally adjusted so that each light pulse is emitted and/or detected during one respective exposure period (t 0 -t 1 , t 1 -t 2 , t 2 -t e ). • generating and emitting a measuring light beam , • directing the measuring light beam to the object to be measured, • detecting a reflection of the measuring light from the object with respective pixels of an image sensor during a defined detection sequence, wherein the image sensor is designed as a high dynamic range, HDR, sensor, and • deriving distance information based on the detected reflection, characterised in that • the detection sequence (t 0 -t e ) comprises a number of at least two exposure sub-sequences each defining a particular exposure period (t 0 -t 1 , t 1 -t 2 , t 2 -t e ) and saturation limit for the pixels of the image sensor, wherein □ a successive exposure sub-sequence comprises a higher saturation limit than its prior exposure sub-sequence and □ each saturation limit defines a maximum charging level of the pixels for the respective exposure sub-sequence, □ a successive exposure sub-sequence comprises a higher saturation limit than its prior exposure sub-sequence and □ each saturation limit defines a maximum charging level of the pixels for the respective exposure sub-sequence, • the pixels are at least partly exposed by the reflected measuring light whereby the charge of each exposed pixel changes, • the charge of each pixel reaching at least one of the maximum charging levels during the detection sequence (t 0 -t e ) is limited or reset according to the respective saturation limit for the period of the corresponding exposure sub-sequence, • the measuring light beam is provided by a defined number of light pulses corresponding to the number of exposure sub-sequences of the detection sequence (t 0 t e ) and • the exposure sub-sequences and the light pulses are temporally adjusted so that each light pulse is emitted and/or detected during one respective exposure period (t 0 -t 1 , t 1 -t 2 , t 2 -t e ). <EOS>