Method, device and equipment for calibrating millimeter wave radar and storage medium

The embodiment of the invention provides a method and device for calibrating a millimeter wave radar, equipment and a storage medium. The method comprises the following steps: acquiring a first group of points which are acquired by a millimeter wave radar to be calibrated and are related to a calibration tool; acquiring a second set of points acquired by the calibrated lidar with respect to the calibration tool; based on the collection time of the first group of points and the second group of points, determining a plurality of matching point pairs from the first group of points and the second group of points, a first point in the plurality of matching point pairs being from the first group of points and a second point matching the first point being from the second group of points; and calibrating a second external parameter of the millimeter wave radar based on the plurality of matching point pairs and the calibrated first external parameter of the laser radar. According to the embodiment of the invention, an