A computer-implemented method, comprising: causing a sensor to obtain sensor data at a first time, wherein the sensor obtains the sensor data by emitting waves towards a detector; wherein the sensor comprises an active sensor, wherein the active sensor transmits or emits electromagnetic waves and detects reflections of the electromagnetic waves to detect an object in an environment around an autonomous vehicle; wherein the sensor is utilized to sense a driving environment during autonomous driving of the autonomous vehicle; determining that the detector has detected the waves transmitted or emitted by the sensor at a second time, the second time being a time when the detector detects the waves emitted by the sensor; receiving the sensor data from the sensor at a third time; characterized by verifying operation of the sensor based on the second and the third time, optionally based in addition on the first and the second time or on the first and third time; the verifying of the operation of the sensor comprises: determining whether a data acquisition delay of the sensor is less than or equal to a threshold acquisition delay based on the second time and the third time, wherein determining whether the data acquisition delay of the sensor is less than or equal to the threshold acquisition delay based on the second time and the third time comprises: determining the acquisition delay based on a difference between the second time and the third time; if the acquisition delay is less than or equal to a threshold time, determining that the sensor is operating properly or within acceptable levels of performance; and if the acquisition delay is greater than a threshold time, determining that the sensor is not operating properly or not within acceptable levels of performance. causing a sensor to obtain sensor data at a first time, wherein the sensor obtains the sensor data by emitting waves towards a detector; wherein the sensor comprises an active sensor, wherein the active sensor transmits or emits electromagnetic waves and detects reflections of the electromagnetic waves to detect an object in an environment around an autonomous vehicle; wherein the sensor is utilized to sense a driving environment during autonomous driving of the autonomous vehicle; determining that the detector has detected the waves transmitted or emitted by the sensor at a second time, the second time being a time when the detector detects the waves emitted by the sensor; receiving the sensor data from the sensor at a third time; characterized by verifying operation of the sensor based on the second and the third time, optionally based in addition on the first and the second time or on the first and third time; the verifying of the operation of the sensor comprises: determining whether a data acquisition delay of the sensor is less than or equal to a threshold acquisition delay based on the second time and the third time, wherein determining whether the data acquisition delay of the sensor is less than or equal to the threshold acquisition delay based on the second time and the third time comprises: determining the acquisition delay based on a difference between the second time and the third time; if the acquisition delay is less than or equal to a threshold time, determining that the sensor is operating properly or within acceptable levels of performance; and if the acquisition delay is greater than a threshold time, determining that the sensor is not operating properly or not within acceptable levels of performance. determining the acquisition delay based on a difference between the second time and the third time; if the acquisition delay is less than or equal to a threshold time, determining that the sensor is operating properly or within acceptable levels of performance; and if the acquisition delay is greater than a threshold time, determining that the sensor is not operating properly or not within acceptable levels of performance.