A method for determining a relative pose, comprising: obtaining (S110, S210, S310, S410) millimeter-wave data for obstacles in a scene collected by a millimeter-wave radar sensor in a vehicle and first data for the obstacles in the scene collected by a first sensor in the vehicle, wherein, at least one millimeter-wave radar signal booster is disposed in the scene as a target obstacle and the obstacles comprise the target obstacle; determining (S120, S220, S320, S420) first obstacle data for the target obstacle in a millimeter-wave radar coordinate system and second obstacle data for the target obstacle in a first sensor coordinate system according to the millimeter-wave data and the first data for the obstacles in the scene; and determining (S130, S230, S350, S460) the relative pose between the millimeter-wave radar sensor and the first sensor according to the first obstacle data and the second obstacle data, wherein determining the relative pose between the millimeter-wave radar sensor and the first sensor according to the first obstacle data and the second obstacle data, comprises: determining (S340, S450)a position error of the target obstacle according to a relative pose variable between the millimeter-wave radar sensor and the first sensor, and first position data and second position data of the target obstacle; and determining (S350, S460)a target function according to the position error of the target obstacle, performing a minimizing process on the target function, and using a relative pose corresponding to a minimized target function as the relative pose between the millimeter-wave radar sensor and the first sensor, wherein the first position data is position data of the target obstacle in the millimeter-wave radar coordinate system, and is obtained from the first obstacle data, wherein the second position data is position data of the target obstacle in the first sensor coordinate system, and is obtained from the second obstacle data, and characterized in that determining the relative pose between the millimeter-wave radar sensor and the first sensor according to the first obstacle data and the second obstacle data further comprises: converting the first obstacle data and the second obstacle data to be data in the same coordinate system; determining a position error for the same target obstacle according to the converted first obstacle data and second obstacle data; minimizing iteratively the target function which is a sum of the position errors of respective target obstacles; and determining relative pose corresponding to an iteratively-minimized target function as the relative pose between the millimeter-wave radar sensor and the first sensor. obtaining (S110, S210, S310, S410) millimeter-wave data for obstacles in a scene collected by a millimeter-wave radar sensor in a vehicle and first data for the obstacles in the scene collected by a first sensor in the vehicle, wherein, at least one millimeter-wave radar signal booster is disposed in the scene as a target obstacle and the obstacles comprise the target obstacle; determining (S120, S220, S320, S420) first obstacle data for the target obstacle in a millimeter-wave radar coordinate system and second obstacle data for the target obstacle in a first sensor coordinate system according to the millimeter-wave data and the first data for the obstacles in the scene; and determining (S130, S230, S350, S460) the relative pose between the millimeter-wave radar sensor and the first sensor according to the first obstacle data and the second obstacle data, wherein determining the relative pose between the millimeter-wave radar sensor and the first sensor according to the first obstacle data and the second obstacle data, comprises: determining (S340, S450)a position error of the target obstacle according to a relative pose variable between the millimeter-wave radar sensor and the first sensor, and first position data and second position data of the target obstacle; and determining (S350, S460)a target function according to the position error of the target obstacle, performing a minimizing process on the target function, and using a relative pose corresponding to a minimized target function as the relative pose between the millimeter-wave radar sensor and the first sensor, wherein the first position data is position data of the target obstacle in the millimeter-wave radar coordinate system, and is obtained from the first obstacle data, wherein the second position data is position data of the target obstacle in the first sensor coordinate system, and is obtained from the second obstacle data, and characterized in that determining the relative pose between the millimeter-wave radar sensor and the first sensor according to the first obstacle data and the second obstacle data further comprises: converting the first obstacle data and the second obstacle data to be data in the same coordinate system; determining a position error for the same target obstacle according to the converted first obstacle data and second obstacle data; minimizing iteratively the target function which is a sum of the position errors of respective target obstacles; and determining relative pose corresponding to an iteratively-minimized target function as the relative pose between the millimeter-wave radar sensor and the first sensor.