A method for classifying objects on a roadway in surroundings of a vehicle. The method includes: reading in image data from a vehicle camera of the vehicle. The image data represent an area of the surroundings which includes the roadway; evaluating the image data including generating a model of a surface of the roadway using identified roadway markings, and an object on the roadway being identified; ascertaining first distance values between the vehicle camera and object image points of the object represented by the image data, and second distance values between the vehicle camera and roadway image points, defined by the model, of the surface of the roadway in surroundings of the object; and comparing the distance values to at least one continuity criterion for distinguishing raised objects from flat objects to classify the object as a raised or flat object as a function of a result of the comparison.