SENSING PERFORMANCE EVALUATION AND DIAGNOSIS SYSTEM AND SENSING PERFORMANCE EVALUATION AND DIAGNOSIS METHOD FOR EXTERNAL-ENVIRONMENT RECOGNITION SENSOR

An object of the present invention is to provide a sensing performance evaluation and diagnosis system capable of detecting a failure sign of an external-environment recognition sensor as a diagnosis target without relying on reference information registered in advance on a map, by comparing an output of the external-environment recognition sensor as the diagnosis target with a reference output of the external-environment recognition sensor. The sensing performance evaluation and diagnosis system includes a sensing data acquisition unit that acquires sensing data around an own vehicle from an observation value of an external-environment sensor as a diagnosis target, which is mounted on the own vehicle, a surrounding information acquisition unit that acquires surrounding information data around the own vehicle from an observation value of a reference external-environment sensor, a reference value calculation unit that generates reference value data based on a recognition history of relative information to a reference object, which is included in the surrounding information data, and an evaluation unit that evaluates whether or not performance of the external-environment sensor as the diagnosis target is deteriorated or evaluates a degree of performance deterioration, by comparing the sensing data related to the reference object to a threshold value set for the reference value data.