1. A method for determining an ego-motion of a vehicle, the method comprising: taking, by a vehicle camera, a sequence of images, successive in time, of vehicle surroundings; determining, based on the image sequence, at least one motion flow with respect to an object in the vehicle surroundings; determining the ego-motion of the vehicle based on the at least one motion flow; and calculating a time-to-collision from the at least one motion flow, the time-to-collision being factored into the determining of the ego-motion; wherein the determining of the ego-motion of the vehicle includes drawing data from at least one vehicle sensor that measures at least one of an instantaneous speed and an instantaneous steering angle, and wherein the determining of the ego-motion of the vehicle includes drawing data from at least one ultrasonic sensor of the vehicle that measures a distance from the object in the vehicle surroundings, and wherein the ego-motion includes prompting counter-steering of the vehicle.