The invention provides a method for counting delay of an unmanned vehicle, comprising the steps of: receiving a first sensor message through a communication frame, recording a first time point of thefirst sensor message including the original sensor; sending the first sensor message to a first work module through the communication framework, and receiving a second sensor message returned by the first working module; determining whether the first working module returning the second sensor message is a working module recorded in a configuration file that records the information of each workingmodule requiring delay counting in the unmanned vehicle; if so, recording a second time point sent by the second sensor message from the first working module; and calculating the processing time of the first working module according to the second time point and the first time point. The embodiments of the invention are capable of reducing the dependence of the modules on the delay statistical interface, and making the delay statistics more accurate. In addition, the delay of a single working module may be counted.