Delay determination method and device, equipment and storage medium

The invention belongs to the technical field of vehicle control, and discloses a delay determination method and device, equipment and a storage medium. The method comprises the following steps: acquiring simulation parameters and sensing parameters of a vehicle; constructing a simulation parameter curve according to the simulation parameters, and constructing a sensing parameter curve according to the sensing parameters; and comparing the simulation parameter curve with the sensing parameter curve to determine the sensing delay of the vehicle. Working condition simulation is carried out through simulation software, short-distance wired transmission is adopted during simulation, overall delay is mainly caused by sensing delay, at the moment, simulation parameters are obtained, the obtained simulation parameters are compared with sensing parameters, the sensing delay of the vehicle can be accurately determined, specific equipment does not need to be involved on the whole, cost is low, and operation is easy. And