A camera calibration method, comprising: Determining (S101) an initial value of an internal parameter of a camera, an initial value of an external parameter of the camera, and an initial value of a distortion coefficient of the camera; determining (S102) a conversion relationship of a point in an image captured by the camera from a world coordinate system to a pixel coordinate system, based on the initial value of the internal parameter, the initial value of the external parameter, the initial value of the distortion coefficient and a mathematical model of the camera; projecting (S103) a plurality of feature points in a high-precision map of a first area onto the pixel coordinate system of a first image, of the first area, captured by the camera to obtain a plurality of projection points; and obtaining (S104) the internal parameter and the distortion coefficient of the camera through a least square method, based on coordinates of the plurality of feature points in the pixel coordinate system, the conversion relationship and world coordinates of the plurality of projection points wherein the camera is a gun type camera, the mathematical model of the camera is a pinhole camera projection model, internal parameters fx, fy, and f of the camera meet a condition of fx=fy=f, and an initial value of f is calculated according to a following formula: f / w 2 + h 2 0.5 = lens / lenth / sensor_size_scale , wherein lens represents a focal length of the camera, lenth represents a size parameter of the camera, sensor_size _scale represents a size and scale parameter of the camera, and w and h represent a width and a height of an image resolution ratio of the camera respectively. Determining (S101) an initial value of an internal parameter of a camera, an initial value of an external parameter of the camera, and an initial value of a distortion coefficient of the camera; determining (S102) a conversion relationship of a point in an image captured by the camera from a world coordinate system to a pixel coordinate system, based on the initial value of the internal parameter, the initial value of the external parameter, the initial value of the distortion coefficient and a mathematical model of the camera; projecting (S103) a plurality of feature points in a high-precision map of a first area onto the pixel coordinate system of a first image, of the first area, captured by the camera to obtain a plurality of projection points; and obtaining (S104) the internal parameter and the distortion coefficient of the camera through a least square method, based on coordinates of the plurality of feature points in the pixel coordinate system, the conversion relationship and world coordinates of the plurality of projection points wherein the camera is a gun type camera, the mathematical model of the camera is a pinhole camera projection model, internal parameters fx, fy, and f of the camera meet a condition of fx=fy=f, and an initial value of f is calculated according to a following formula: f / w 2 + h 2 0.5 = lens / lenth / sensor_size_scale , wherein lens represents a focal length of the camera, lenth represents a size parameter of the camera, sensor_size _scale represents a size and scale parameter of the camera, and w and h represent a width and a height of an image resolution ratio of the camera respectively. <EOS>