recording sensor data successively from the surroundings of the vehicle;

verifying the recorded sensor data;

checking the verified sensor data for plausibility;

analyzing the verified sensor data using a neural network and generating analyzed sensor data; and

based on the analyzed sensor data, generating control data for controlling the vehicle in a partially automated or fully automated manner;

wherein during verification of the sensor data, at least first sensor data, which were recorded at a first, earlier point in time, are compared with second sensor data, which were recorded at a second, later point in time; and

the result of the comparison is cross-checked with data of a database in which data on perturbations to input data of a neural network are stored, wherein it is determined whether the second sensor data were generated at least in part by a perturbation to the first sensor data that is stored in the database; wherein

during checking the verified sensor data, supplementary sensor data are obtained from the surroundings of the vehicle; the supplementary sensor data are analyzed; deviations of the second sensor data from the first sensor data are determined; and it is determined whether the deviations are in line with the analysis of the supplementary sensor data.