A method for calibrating a laser scanning device installed in a vehicle, applied to a computer device, the method comprising: obtaining, based on at least two frames of point cloud data obtained by a laser scanning device by scanning a target region, first coordinates of a surface feature element in each frame of point cloud data, wherein the first coordinates are coordinates of the surface feature element in a laser coordinate system, the surface element being an object having a fixed position in the target region and functioning as a basic element of a calibration point; characterized in that the method further comprises: determining, based on map data of the target region including longitude and latitude coordinates and an elevation coordinate of the surface feature element in a map coordinate system, second coordinates of the surface feature element in each frame of point cloud data in a vehicle coordinate system by obtaining position coordinates of the surface feature element included in each of the frames of point cloud data in the map coordinate system by using the map data, and by converting the obtained position coordinates into the second coordinates in the vehicle coordinate system using position coordinates of the vehicle in the map coordinate system; determining, for each frame of point cloud data, a pose offset of each frame of point cloud data based on the first coordinates and the second coordinates of the surface feature element, the pose offset including a value of a position offset and a value of a yaw angle between the vehicle coordinate system and the laser coordinate system for each frame of point cloud data; and calculating a value of a laser extrinsic parameter of the laser scanning device , including a position offset and a yaw angle between the vehicle coordinate system and the laser coordinate system, based on pose offsets of the at least two frames of point cloud data, to calibrate the laser scanning device . determining, based on map data of the target region including longitude and latitude coordinates and an elevation coordinate of the surface feature element in a map coordinate system, second coordinates of the surface feature element in each frame of point cloud data in a vehicle coordinate system by obtaining position coordinates of the surface feature element included in each of the frames of point cloud data in the map coordinate system by using the map data, and by converting the obtained position coordinates into the second coordinates in the vehicle coordinate system using position coordinates of the vehicle in the map coordinate system; determining, for each frame of point cloud data, a pose offset of each frame of point cloud data based on the first coordinates and the second coordinates of the surface feature element, the pose offset including a value of a position offset and a value of a yaw angle between the vehicle coordinate system and the laser coordinate system for each frame of point cloud data; and calculating a value of a laser extrinsic parameter of the laser scanning device , including a position offset and a yaw angle between the vehicle coordinate system and the laser coordinate system, based on pose offsets of the at least two frames of point cloud data, to calibrate the laser scanning device . <EOS>