A testing method for a vehicle perception system, comprising acquiring an actual speed of a test object from a database, wherein the actual speed of the test object is acquired by a motion collection apparatus of the test object, and a timestamp of the actual speed is a positing timestamp; acquiring a perceptual speed of the test object from the database, wherein the perceptual speed of the test object is a speed of the test object perceived by the vehicle perception system, the timestamp of the perceptual speed is a point cloud timestamp, and a target vehicle where the vehicle perception system is located remains stationary in a test period; comparing the positioning timestamps corresponding to multiple actual speeds of the test object with the point cloud timestamp corresponding to multiple perceptual speeds, and determining the actual speed corresponding to the positioning timestamp with a smallest time difference from the point cloud timestamp as the actual speed corresponding to the point cloud timestamp; determining (S303, S504), according to the actual speed of the test object and the perceptual speed of the test object, speed reporting delay time of the vehicle perception system, wherein the speed reporting delay time refers to delay time for the vehicle perception system to perceive the actual speed of an obstacle; wherein the determining (S303, S504), according to the actual speed of the test object and the perceptual speed of the test object at each point cloud timestamp, the speed reporting delay time of the vehicle perception system comprises: determining, according to the actual speed of the test object at each point cloud timestamp, a first time when a state of the test object changes from being stationary to moving; determining, according to the perceptual speed of the test object at each point cloud timestamp, a second time when the vehicle perception system perceives that the state of the test object changes from being stationary to moving; and determining a difference between the first time and the second time as the speed reporting delay time of the vehicle perception system. acquiring a perceptual speed of the test object from the database, wherein the perceptual speed of the test object is a speed of the test object perceived by the vehicle perception system, the timestamp of the perceptual speed is a point cloud timestamp, and a target vehicle where the vehicle perception system is located remains stationary in a test period; comparing the positioning timestamps corresponding to multiple actual speeds of the test object with the point cloud timestamp corresponding to multiple perceptual speeds, and determining the actual speed corresponding to the positioning timestamp with a smallest time difference from the point cloud timestamp as the actual speed corresponding to the point cloud timestamp; determining (S303, S504), according to the actual speed of the test object and the perceptual speed of the test object, speed reporting delay time of the vehicle perception system, wherein the speed reporting delay time refers to delay time for the vehicle perception system to perceive the actual speed of an obstacle; wherein the determining (S303, S504), according to the actual speed of the test object and the perceptual speed of the test object at each point cloud timestamp, the speed reporting delay time of the vehicle perception system comprises: determining, according to the actual speed of the test object at each point cloud timestamp, a first time when a state of the test object changes from being stationary to moving; determining, according to the perceptual speed of the test object at each point cloud timestamp, a second time when the vehicle perception system perceives that the state of the test object changes from being stationary to moving; and determining a difference between the first time and the second time as the speed reporting delay time of the vehicle perception system.