  Autonomous driving at level five does not only means self-driving in the
sunshine. Adverse weather is especially critical because fog, rain, and snow
degrade the perception of the environment. In this work, current state of the
art light detection and ranging (lidar) sensors are tested in controlled
conditions in a fog chamber. We present current problems and disturbance
patterns for four different state of the art lidar systems. Moreover, we
investigate how tuning internal parameters can improve their performance in bad
weather situations. This is of great importance because most state of the art
detection algorithms are based on undisturbed lidar data.
