Laser radar self-calibration method, system and device and storage medium

The embodiment of the invention relates to the technical field of automatic driving, in particular to a laser radar self-calibration method, system and device and a storage medium, and the method comprises the steps: carrying out the fitting of a frame of point cloud collected by a laser radar, and obtaining a ground plane equation; obtaining a normal vector direction of the ground based on the ground plane equation; calculating a roll angle and a pitch angle based on the included angle between the normal vector direction and the z-axis direction; obtaining a laser radar track, and based on the laser radar track, obtaining a difference value between the forward direction of the vehicle at each moment and the forward direction of the laser radar; and obtaining the offset angle based on the difference value. According to the laser radar self-calibration method provided by the embodiment of the invention, a specific environment and a marker are not needed, and the method is suitable for most automatic driving sc