Turning assistance device (2) as a retrofit solution for a vehicle (1) for
retrofitting the vehicle (1) with the turning assistance device (2), comprising a
radar sensor device (3) and a control device (4), wherein the
radar sensor device (3) is configured to - to detect an object (10) and its relative position (11) with respect to the vehicle (1) in a predetermined spatial detection area (8) in an external environment of the vehicle (1) according to a predetermined detection method, characterized in that the control device (4) is configured to - to classify the object (10) as a
road user (6) using a predetermined
classification procedure, and - to issue a warning
signal (12) when the object (10) classified as a
road user (6) is located in a predetermined spatial danger zone (7) related to the vehicle (1), wherein a warning is only issued if the object (10) in the danger zone (7) is the
road user (6), and that the control device (4) is configured to - to determine a
relative motion (16) of the object (10) with respect to the vehicle (1) according to a predetermined motion determination procedure, - to classify the object (10) as either a
stationary object (17) or a dynamic object (18) using a predetermined determination procedure, and - to determine a movement (19) of the vehicle (1) from the relative movement (16) of at least one object (10) classified as a
stationary object (17), so that the turning assistance device (2) can independently determine the movement (19) of the vehicle (1).