A collision prevention detector (22), and a method therefor, to be mounted on a vehicle (10), transmits a sequence of transmissions of IR signals. The signals are transmitted in sequences alternating between at least one at the right and to the left positioned LED (24, 26, 34, 36), when both signals provide a return/reflected signal to IR-receiver an object (12) is determined as present within the area/zone from the point where the transmitted signals intersect/cross. Sequencing of signals makes it possible to position a return signal from an object (12), as one of the signals has to confirm the other signal to provide a warning signal. Moreover, a first set of LED's detects objects in a near-field zone (40) of the vehicle, and a second set detects objects beyond the first field in a far-field zone (42), whereby at least two sets of the LED's are positioned to the right and to the left.