  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.
