Patent ID: 8838322

Claim:
A method comprising: obtaining, during a test period, sensor data from at least one sensor of a vehicle, wherein the vehicle is operating in an autonomous mode controlled by a computer system during the test period, wherein the sensor data includes data representative of a target object in an environment of the vehicle, and wherein the vehicle has a first pose in the environment at a beginning of the test period; defining a movement of the vehicle from the first pose to a second pose; determining a predicted movement of the at least one target object in the sensor data based on the defined movement of the vehicle; initiating the defined movement of the vehicle at an initiation time during the test period; completing the defined movement of the vehicle at a completion time during the test period; analyzing the sensor data obtained during the test period to identify at least one of (i) a start time when the at least one target object begins the predicted movement in the sensor data and (ii) a stop time when the at least one target object stops the predicted movement in the sensor data; and determining a latency of the at least one sensor based on at least one of (i) a difference between the start time and the initiation time and (ii) a difference between the stop time and the completion time.