The present invention concerns a device (20) to determine a radar target list, with: an input interface (22) to receive pre-processed sensor data from a radar sensor (18) with information on detected performance in high points (H1, (H2) in a distance and/or speed dimension and in predefined neighbourhood areas of the high points in the distance and/or speed dimension; an analysis unit (24) to identify adjacent high points with overlapping neighbourhood areas based on pre-processed sensor data;an adaptation unit (26) to adapt the neighbourhood areas of the adjacent high points; and an evaluation unit (28) to determine a radar target list with information on targets (17) in a field of view of radar sensors based on the highpoints and their neighborhoods. The present invention also concerns a procedure for determining a radar target list and a sensor system (10) for detecting targets (17) in an environment (12) of a vehicle (14).
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