A method for driving-related object detection, the method may include receiving an input image by an input of an object detector; and detecting, by an object detector, objects that appear in the input image. The detecting includes searching for (i) a first object having a first size that is within a first size range and belongs to a four wheel vehicle class, (ii) a second object having a second size that is within a second size range and belongs to a subclass out of multiple four wheel vehicle subclasses, (iii) a pedestrian, and (iv) a two wheel vehicle; wherein a maximum of the first size range does not substantially exceed a minimum of the second size range.