A method for processing sensor data, comprising: receiving (S202) a plurality of data streams to be processed, each data stream corresponding to a sensor, and each data stream comprising a data frame having a generation timestamp, the plurality of data streams having different data collection periods; correcting (S204) the generation timestamp of the data frame in each data stream to a nearest integer timestamp based on a tolerance error of the respective data stream, to acquire corrected timestamps; and determining (S206), based on the corrected timestamps of the data frames and preset data transmission periods, a data frame to be transmitted in each data transmission period for each data stream, wherein determining the data frame to be transmitted in each data transmission period for each data stream comprises: for each data stream: determining an expected timestamp sequence of the data stream based on a data collection period of the sensor corresponding to the data stream; selecting a target timestamp corresponding to the current data transmission period from the expected timestamp sequence; determining, in response to the corrected timestamp of a data frame of the data stream matching the target timestamp, the data frame as the to-be-transmitted data frame of the data stream in the current data transmission period; and determining, in response to no data frame whose correction timestamp matching the target timestamp in the data stream, that the data stream has no to-be-transmitted data frame in the current data transmission period. receiving (S202) a plurality of data streams to be processed, each data stream corresponding to a sensor, and each data stream comprising a data frame having a generation timestamp, the plurality of data streams having different data collection periods; correcting (S204) the generation timestamp of the data frame in each data stream to a nearest integer timestamp based on a tolerance error of the respective data stream, to acquire corrected timestamps; and determining (S206), based on the corrected timestamps of the data frames and preset data transmission periods, a data frame to be transmitted in each data transmission period for each data stream, wherein determining the data frame to be transmitted in each data transmission period for each data stream comprises: for each data stream: determining an expected timestamp sequence of the data stream based on a data collection period of the sensor corresponding to the data stream; selecting a target timestamp corresponding to the current data transmission period from the expected timestamp sequence; determining, in response to the corrected timestamp of a data frame of the data stream matching the target timestamp, the data frame as the to-be-transmitted data frame of the data stream in the current data transmission period; and determining, in response to no data frame whose correction timestamp matching the target timestamp in the data stream, that the data stream has no to-be-transmitted data frame in the current data transmission period. determining an expected timestamp sequence of the data stream based on a data collection period of the sensor corresponding to the data stream; selecting a target timestamp corresponding to the current data transmission period from the expected timestamp sequence; determining, in response to the corrected timestamp of a data frame of the data stream matching the target timestamp, the data frame as the to-be-transmitted data frame of the data stream in the current data transmission period; and determining, in response to no data frame whose correction timestamp matching the target timestamp in the data stream, that the data stream has no to-be-transmitted data frame in the current data transmission period. <EOS>