Towards the introduction of autonomous vehicles, studying their functionality is becoming increasingly important. Detecting the environment in a self-driving vehicle is a very complex issue. The combination of different sensors is essential for safe and reliable operation. Detection enables the vehicle to accurately recognize and track surrounding objects, understand changes in the dynamic environment, and adapt to different situations. Improving environmental sensing and object recognition is essential for the widespread deployment of self-driving vehicles. In addition to real-world tests, simulation environments provide an opportunity to investigate the operation of autonomous vehicles. Simulations are cost-effective methods for examining the processing of information from the vehicle environment and identifying the current limitations and problems of these technologies. In the CARLA simulator environment, object detection is reproduced in realistic traffic situations. Based on the results, the detection performance was analyzed using interference matrices, F1 scores, accuracy, and coverage metrics.