A method for testing the surroundings sensor system and/or perception of the surroundings of a vehicle which operates on land or in water. The method includes obtaining model data of at least part of the surroundings of the vehicle, wherein the model data were created using data that characterizes the surroundings of the vehicle from at least one aerial perspective; transforming the model data into a reference system of the surroundings sensor system and/or perception of the surroundings; comparing the transformed model data with sensor data provided by the surroundings sensor system or the perception of the surroundings and/or with processing results of the sensor data; using the result of the comparison to evaluate the extent to which the sensor data and/or processing results are in line with the real situation in the surroundings of the vehicle.

A method for testing the surroundings sensor system and/or perception of the surroundings of a vehicle which operates on land or in water. The method includes obtaining model data of at least part of the surroundings of the vehicle, wherein the model data were created using data that characterizes the surroundings of the vehicle from at least one aerial perspective; transforming the model data into a reference system of the surroundings sensor system and/or perception of the surroundings; comparing the transformed model data with sensor data provided by the surroundings sensor system or the perception of the surroundings and/or with processing results of the sensor data; using the result of the comparison to evaluate the extent to which the sensor data and/or processing results are in line with the real situation in the surroundings of the vehicle.