Method for determining an error with anchor point detection for an at least partly autonomous vehicle

A method for determining an error with anchor point detection for a vehicle, wherein the vehicle is at least partly autonomous, the method comprising:

• detecting a first anchor point at a first time;
• obtaining a distance between the first anchor point, and a second anchor point;
• obtaining a speed indication, wherein the speed indication indicates an actual speed and/or an expected speed of the vehicle between the first anchor point and the second anchor point;
• based on the obtained distance and using the indicated actual speed and/or expected speed, estimating an expected time for the vehicle to detect the second anchor point;
• establishing a time difference by:
• detecting the second anchor point at a third time, and establishing the time difference by comparing the expected time with the third time;
• and
• based on the established time difference, determining whether there is an error in detecting the first anchor point and/or the second anchor point.