An agricultural harvester including a sensor for measuring a position of an object in surroundings of the harvester. The sensor is connected to a processor for defining at least two different danger zones respectively corresponding to at least two different sets of harvester driving parameter values. The processor can determine actual harvester driving parameter values, and the processor can compare the actual harvester driving parameter values with the different sets to select a matching set and to select a corresponding one of the danger zones. The processor outputs a warning signal if the position is in the corresponding danger zone.
