A vehicle environment detection system (40) in an ego vehicle (1), including a sensor arrangement (4) and a main control unit (8) is arranged to detect and track at least one oncoming vehicle (9), and to determine whether the ego vehicle (1) has entered a curve (17). When this is the case. The main control unit (8) is arranged to, determine an ego direction (21) along which the ego vehicle (1) travels with a corresponding ego direction angle (γego) with respect to a predetermined axis (xglob), determine a measured oncoming direction (18) of the tracked oncoming vehicle (9) with a corresponding oncoming angle (θtrack, glob) with respect to the predetermined axis (xglob) during a plurality of radar cycles, determine a difference angle (δ) between the measured oncoming direction (18) and the ego direction (21), and compare the difference angle (δ) with a threshold angle (θmax), and to determine that the oncoming vehicle (9) is crossing if the difference angle (δ) exceeds the threshold angle (θmax).