A method is provided for determining a latency between a first time reference frame of a system under test in a host vehicle, and a second time reference frame of a reference system in the host vehicle. The system under test comprises at least one sensor for acquiring sensor data of a surrounding of the host vehicle. The reference system comprises an inertial measurement unit, IMU. A time-dependent first velocity of the host vehicle in the first time reference frame is determined, using the system under test. A time-dependent second velocity of the host vehicle in the second time reference frame is determined, using the reference system. The latency between the first time reference frame and the second time reference frame is computed, using the first velocity and the second velocity.
