Method for detecting an environment-induced sensor impairment and vehicle sensor system

A vehicle sensor system for a vehicle, comprising:

• an environment sensor system including a radar sensor and at least one further environment sensor, in each case configured to detect at least one environment object in a vehicle environment of the vehicle;
• and
• a processing device configured to create an environment object model of the environment object according to fused sensor data formed by the detection by the radar sensor and at least the further environment sensor, and to detect an environment-induced sensor impairment of the radar sensor, by:
• detecting an environment region of the vehicle environment which at least partially includes the environment object and lies in a field of view of the radar sensor and a field of view of the at least one further environment sensor, using the radar sensor and at least the further environment sensor,
• creating the environment object model of the environment object according to the fused sensor data formed by the detection of the environment region by the radar sensor and at least the further environment sensor,
• ascertain a contribution of the radar sensor to the fused sensor data, and
• calculate a sensor impairment state of the radar sensor according to the contribution.