The invention relates to a method for detecting at least one object (3) in surroundings (4) of a motor vehicle (1), in which a first sensor (6) is actuated to emit a sensor signal, sensor data are received from a second sensor (6), which describe the sensor signal reflected from the at least one object (3), a fuzzy feature (xU) is determined from the sensor data as an object feature (xP, xL, xU) for describing the at least one object (3), wherein the fuzzy feature (xU) describes a distance between the at least one object (3) and the first sensor (6) and a distance between the at least one object and the second sensor (6), wherein the fuzzy feature (xU) is described as an ellipse (xE), a further object feature (xP, xL), which describes the at least one object (3), is determined on the basis of sensor data of at least one further measurement of the first and/or the second sensor (6), the further object feature (xP, xL) and the fuzzy feature (xU) are transferred using an innovation function (h) into a common state space, wherein the innovation function (h) describes a similarity between the fuzzy feature (xU) and the further object feature (xP, xL), and a merged object feature is determined from the further object feature (xP, xL) on the basis of the innovation function (h).