The vehicle's perception sensors radar, lidar and camera, which must work continuously and without restriction, especially with regard to automated/autonomous driving, can lose performance due to unfavourable weather conditions. This paper analyzes the sensor signals of these three sensor technologies under rain and fog as well as day and night. A data set of a driving test vehicle as an object target under different weather conditions was recorded in a controlled environment with adjustable, defined, and reproducible weather conditions. Based on the sensor performance evaluation, a method has been developed to detect sensor degradation, including determining the affected data areas and estimating how severe they are. Through this sensor monitoring, measures can be taken in subsequent algorithms to reduce the influences or to take them into account in safety and assistance systems to avoid malfunctions.

翻译：车辆的感知传感器——雷达、激光雷达和摄像头——必须持续无限制地工作，尤其在自动化/自动驾驶中，但不利的天气条件可能导致其性能下降。本文分析了这三种传感器技术在雨、雾以及白天和夜间条件下的信号。在可控环境中，以配备可调节、定义明确且可重复天气条件的驾驶测试车辆为目标对象，记录了一个涵盖不同天气条件的数据集。基于传感器性能评估，开发了一种检测传感器退化的方法，包括确定受影响的数据区域并估计其严重程度。通过这种传感器监测，后续算法中可以采取措施来减少这些影响，或在安全与辅助系统中将其纳入考量，以避免功能障碍。