Method of detecting object in the vicinity of a vehicle

A system for detecting objects in the vicinity of a vehicle, comprising:

• a sensor for gathering data relating to the objects in the vicinity of the vehicle;
• and
• a processor configured to:
• detect the objects from the data from the sensor, based on one or more detection criteria, the detection criteria being regulated by one or more detection parameters;
• define a preferred number of detected objects for a set of the data gathered by the sensor, the preferred number approximately corresponding to a maximum number of objects analyzable within a processing cycle;
• analyze the detected objects and the number of the detected objects;
• and
• in response to the number of the objects detected, make an adjustment of at least one of the number of the one or more detection parameters, and a property of at least one of the one or more of the detection parameters, the adjustment altering the number of the objects detected by applying the varied one or more detection parameters to a number close to the preferred number for a subsequent set of data.