Vehicle-mounted camera calibration method and device, vehicle and medium

The invention discloses a vehicle-mounted camera calibration method and device, a vehicle and a medium. The method comprises the following steps: when a calibration condition is met, acquiring image information of a current frame shot by a vehicle-mounted camera and current vehicle motion information of a vehicle; determining a ground feature point set of the image information according to the image information and a preset field angle boundary condition; and calibrating the vehicle-mounted camera according to the ground feature point set, the determined historical ground feature point information and the current vehicle motion information. A vehicle runs in any scene, image information is shot, according to the image information and preset field angle boundary conditions, ground attribute features are screened out, historical ground feature point information and current vehicle motion information are combined, external parameters of a vehicle-mounted camera are determined, and calibration is completed. Accor