Vehicle-mounted millimeter wave radar and camera course angle joint calibration method

The invention discloses a vehicle-mounted millimeter wave radar and camera course angle joint calibration method, which comprises the following steps of: placing a radar reflector in front of a central normal of an image calibration plate which is vertical to the horizontal ground, driving a vehicle to be calibrated to a specified position, and obtaining an initial attitude parameter of a camera; according to the detection result of the millimeter wave radar on the radar reflector, the initial attitude parameter of the camera and the position of the radar reflector are combined, the initial course angle of the camera is corrected, the actual course angle of the camera is obtained, camera target orientation measurement is completed, and effective fusion with a millimeter wave radar output target is carried out. According to the invention, sensor parameter calibration before the vehicle leaves the factory is carried out at the same time, and the course angles of the millimeter-wave radar and the camera pointing