Device for classifying at least one object in the surrounding field of a vehicle

A device for classifying at least one object in a surrounding field of a vehicle, comprising:

• an environmental sensor system;
• and
• a classifier that classifies the at least one object into one of a plurality of classes including object classes and a reject class, based on a three-dimensional shape of the at least one object and dimensions of the object, the environmental sensor system ascertaining the shape and the dimensions, wherein the classifier performs temporal filtering in classifying the at least one object by taking into consideration a previous classification of the at least one object, and wherein each object class has assigned properties which describe at least one of characteristic features of the class and differences from other classes, the properties of the object classes being stored in a model database, and wherein the at least one object is classified as belonging to the reject class if the at least one object does not correspond to any of the properties of the object classes stored in the model database.