Vehicle-mounted camera calibration method, terminal equipment and storage medium

The invention discloses a calibration method of a vehicle-mounted camera, terminal equipment and a storage medium, the vehicle-mounted camera is mounted on a vehicle, the calibration method comprises the following steps: determining a height difference between wheel grounding points by using a gradienter, and determining a first attitude of the vehicle; determining a second posture of the calibration object; compensating the second attitude by using the first attitude to obtain a third attitude of the calibration object relative to the vehicle; and calibrating the vehicle-mounted camera based on the third posture. According to the scheme, considering that the vehicle and the calibration object are not always in the same horizontal state, the actual first attitude of the vehicle is determined through the gradienter, the actual second attitude of the calibration object is compensated through the first attitude, the actual attitude of the calibration object relative to the vehicle is obtained, and the accuracy o