A method for detecting an object in a motor vehicle environment uses a detection means which scans the environment at predetermined angular increments .phi.i+-.phi.i (i=1,2, . . ., N). When sensing a reflection signal of the object at an angle .phi.i, the angular increments are refined in the angular range between the adjacent angles .phi.i-1 and .phi.i+1 as a function of signal propagation times ti-1, ti and ti+1 of the reflection signals sensed at the angles .phi.i-1, .phi.i and .phi.i+1.