Method and device for detecting a risk of collision between two objects moving relative to one another, in particular vehicles. Starting from an object that is assumed to be dormant, the position angle of the other object in the coordinate system of the dormant object and the distance between the two objects are determined at intervals and a risk of a collision is concluded if the position angle remains constant over time the distance between the objects is reduced. Position angle and distance of the objects are determined in that radiation emitted by one object is received at the other object with planar receivers, which are arranged at an angle to one another and the size of the position angle and the size of the distance of the object are calculated from the output signals of the receivers ,
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