A method is provided for estimating a velocity of an object located in the environment of a vehicle. Detections of a range, an azimuth angle and a range rate of the object are acquired for at least two different points in time via a sensor. A cost function is generated which depends on a first source and a second source. The first source is based on a range rate velocity profile which depends on the range rate and the azimuth angle, and the first source depends on an estimated accuracy for the first source. The second source is based on a position difference which depends on the range and the azimuth angle for the at least two different points in time, and the second source depends on an estimated accuracy for the second source. By minimizing the cost function, a velocity estimate is determined for the object.