External parameter calibration method and device of fisheye camera, electronic equipment and readable storage medium

The invention provides an external parameter calibration method and device of a fisheye camera, electronic equipment and a readable storage medium. The fisheye camera external parameter calibration method comprises the following steps: acquiring image data shot by a to-be-calibrated fisheye camera and vehicle positioning data corresponding to the image data; obtaining at least one three-dimensional lane line point corresponding to the vehicle positioning data from the high-precision map, projecting the at least one three-dimensional lane line point to the image data, and obtaining at least one two-dimensional lane line point; obtaining a target map lane line according to at least one two-dimensional lane line point in the image data; acquiring a straight line set corresponding to the target map lane line from the image data, and acquiring a target image lane line according to the straight line set; and according to the target map lane line and the target image lane line, obtaining a target extrinsic parameter