Method and device for sensing synchronization, and computer-readable medium

A method for sensing synchronization, comprising:

• determining sending times, receiving times and receiving angles of sensing signals;
• determining positions of fixed objects in a preset map as theoretical reflection positions of the sensing signals according to a position of a receiving end and the receiving angles of the sensing signals;
• determining distance differences of the sensing signals;
• the distance difference of each of the sensing signals is an absolute value of a difference between a time distance and a position distance of the sensing signal, the time distance is a distance that the sensing signal is transmitted from the sending time of the sensing signal to the receiving time of the sensing signal, and the position distance is a sum of a distance between the theoretical reflection position of the sensing signal and the receiving end and a distance between the theoretical reflection position of the sensing signal and a transmitting end;
• selecting at least one one-reflection-path distance difference from the distance differences;
• determining a synchronization error between the transmitting end and the receiving end according to the at least one one-reflection-path distance difference.