Camera external parameter calibration method, device, equipment and vehicle

The invention provides a camera external parameter calibration method, device and equipment and a vehicle, and relates to the technical field of artificial intelligence, in particular to the technical fields of automatic driving, map positioning and the like. The camera external parameter calibration method comprises the following steps: for the same calibration scene, acquiring a first original image acquired by a first camera and a second original image acquired by a second camera; acquiring a first mapping image and a second mapping image; performing matching processing on the first mapping image and the second mapping image to determine a first pixel and a second pixel which are matched with each other; acquiring a position coordinate offset based on the first position coordinate of the first pixel and the second position coordinate of the second pixel; and determining external parameters between the first camera and the second camera based on the position coordinate offset and the focal length of the sec