A method performed by a computing system for performance evaluation of a perception module under development of a vehicle, wherein the vehicle is equipped with an Automated Driving System, ADS, the method comprising: storing, during a time period, a first set of perception data obtained from a perception system of the vehicle, the perception system being configured to generate the first set of perception data based on sensor data obtained from one or more vehicle-mounted sensors during the time period; forming, by post-processing the first set of perception data, a baseline perception output comprising information indicative of a scenario in the surrounding environment of the vehicle during the time period; obtaining a second set of perception data from the perception module under development, wherein the perception module under development is configured to generate the second set of perception data based on a perception model and sensor data obtained from one or more vehicle-mounted sensors during the time period; wherein the second set of perception data comprises a perceptive parameter of the surrounding environment of the vehicle during the time period; wherein the baseline perception output constitutes a ground truth for the second set of perception data; comparing the second set of perception data to the formed baseline perception output in order to identify a match between the perceptive parameter of the second set of perception data and a corresponding perceptive parameter in the baseline perception output; evaluating the obtained second set of perception data in reference to the baseline perception output in order to determine a cost function indicative of a performance of the perception module under development based on the identified match between the perceptive parameter of the second set of perception data and the corresponding perceptive parameter in the baseline perception output; and updating one or more parameters of the perception model of the perception module under development by means of an optimization algorithm configured to minimize the determined cost function. storing, during a time period, a first set of perception data obtained from a perception system of the vehicle, the perception system being configured to generate the first set of perception data based on sensor data obtained from one or more vehicle-mounted sensors during the time period; forming, by post-processing the first set of perception data, a baseline perception output comprising information indicative of a scenario in the surrounding environment of the vehicle during the time period; obtaining a second set of perception data from the perception module under development, wherein the perception module under development is configured to generate the second set of perception data based on a perception model and sensor data obtained from one or more vehicle-mounted sensors during the time period; wherein the second set of perception data comprises a perceptive parameter of the surrounding environment of the vehicle during the time period; wherein the baseline perception output constitutes a ground truth for the second set of perception data; comparing the second set of perception data to the formed baseline perception output in order to identify a match between the perceptive parameter of the second set of perception data and a corresponding perceptive parameter in the baseline perception output; evaluating the obtained second set of perception data in reference to the baseline perception output in order to determine a cost function indicative of a performance of the perception module under development based on the identified match between the perceptive parameter of the second set of perception data and the corresponding perceptive parameter in the baseline perception output; and updating one or more parameters of the perception model of the perception module under development by means of an optimization algorithm configured to minimize the determined cost function.