Vehicle-mounted camera automatic calibration method and device, and readable storage medium

The invention discloses a vehicle-mounted camera automatic calibration method and device, and a readable storage medium. According to the vehicle-mounted camera automatic calibration method, rigid targets in a plurality of road images acquired by the vehicle-mounted camera to be calibrated are identified, so that relatively large errors caused by taking changeable flexible targets such as a humanbody in the images as a calibration basis to a calibration result are avoided, and the stability and the precision level of a calibration process are improved; the method comprises the following steps: acquiring initial visual parameters of a plurality of road images so as to obtain a plurality of reference sample data; and determining the target visual parameter with the maximum possibility through the Gaussian distribution characteristics and the plurality of initial visual parameters to calibrate the vehicle-mounted camera, so that the calibration precision is improved. Besides, compared with the prior art, the met