Abstract: A method for recognizing misalignments of a stationary sensor. A first occupancy map is generated based on first sensor data, which the sensor generates at a first point in time. Based on second sensor data, which the sensor generates at a second point in time, a second occupancy map is generated. A cross-correlation of the first occupancy map and of the second occupancy map is calculated. A misalignment of the sensor is recognized based on the calculated cross-correlation.

Abstract: A method, a calibration device and a fusion unit for calibrating a sensor. The method includes: ascertaining a first piece of information representing a distance and/or a position of a first calibration device with respect to a second calibration device, ascertaining a piece of calibration information representing a distance and/or a position of the first calibration device with respect to the sensor based on the first piece of information and a second piece of information, which represents an absolute position of the second calibration device and/or a distance and/or a position of the second calibration device with respect to the sensor, transmitting the calibration information to the sensor, and calibrating the sensor based on the calibration information and a determination of the distance and/or position of the first calibration device and the second calibration device with respect to the sensor by way of a measurement by the sensor.