Abstract: A method for determining the maximum range of a LiDAR sensor. The method includes: providing a LiDAR point cloud using a LiDAR sensor, which images an environment of the LiDAR sensor at a certain point in time within a predefined field of view of the LiDAR sensor in a three-dimensional manner; identifying at least two different point sets within the LiDAR point cloud, each imaging an area in the environment that was identified as belonging to a predefined environment object; calculating the particular areas that are imaged by the point sets in each case, and dividing the number of LiDAR points imaging these areas by the individually imaged corresponding areas to obtain at least two different point densities; calculating a quotient from the point densities, and using this quotient to ascertain the maximum range of the LiDAR sensor, for which a previously stored regression curve is used.

Abstract: A method for range determination for a LIDAR sensor. The method includes: receiving measured values of a LIDAR sensor organized in a point cloud, and each including pieces of directional information and radial distance information relative to the LIDAR sensor and representing a laser beam reflected from the particular direction and at the particular radial distance; assigning the measured values based on the pieces of directional and radial distance information to areas of interest of a field of view; ascertaining a maximum distance range as an area of interest including a maximum radial distance to the LIDAR sensor and a point distribution of measured values of the area of interest, which includes a variance which reaches or exceeds a predetermined limiting value; and providing a value of the radial distance of the maximum distance range to the LIDAR sensor as the maximum range of the LIDAR sensor.