A sensor calibration method, comprising: detecting (S110; S210) surrounding objects in a travelling process of a vehicle by a camera and a lidar configured on the vehicle; recognizing (S120; S220) a static object from the surrounding objects; performing (S130) feature extraction on the static object based on data collected by the camera and the lidar, respectively; and calibrating an extrinsic parameter of the camera and the lidar based on the extracted feature; wherein performing feature extraction on the static object by the camera and the lidar and calibrating the extrinsic parameter of the camera and the lidar based on the extracted feature comprises: performing (S230) feature extraction on an edge of the static object by the camera and the lidar respectively to obtain a plurality of feature points on the edge, and obtaining a first coordinate of each of the plurality of feature points in a camera imaging plane and a second coordinate of each of the plurality of feature points in a lidar coordinate system; for each of the plurality of feature points, performing (S240) an alignment operation between a coordinate of the second coordinate projected on the camera imaging plane and the first coordinate by an iterative method; and determining a rotation matrix and a translation vector between the camera and the lidar when the alignment is achieved. detecting (S110; S210) surrounding objects in a travelling process of a vehicle by a camera and a lidar configured on the vehicle; recognizing (S120; S220) a static object from the surrounding objects; performing (S130) feature extraction on the static object based on data collected by the camera and the lidar, respectively; and calibrating an extrinsic parameter of the camera and the lidar based on the extracted feature; wherein performing feature extraction on the static object by the camera and the lidar and calibrating the extrinsic parameter of the camera and the lidar based on the extracted feature comprises: performing (S230) feature extraction on an edge of the static object by the camera and the lidar respectively to obtain a plurality of feature points on the edge, and obtaining a first coordinate of each of the plurality of feature points in a camera imaging plane and a second coordinate of each of the plurality of feature points in a lidar coordinate system; for each of the plurality of feature points, performing (S240) an alignment operation between a coordinate of the second coordinate projected on the camera imaging plane and the first coordinate by an iterative method; and determining a rotation matrix and a translation vector between the camera and the lidar when the alignment is achieved. performing (S230) feature extraction on an edge of the static object by the camera and the lidar respectively to obtain a plurality of feature points on the edge, and obtaining a first coordinate of each of the plurality of feature points in a camera imaging plane and a second coordinate of each of the plurality of feature points in a lidar coordinate system; for each of the plurality of feature points, performing (S240) an alignment operation between a coordinate of the second coordinate projected on the camera imaging plane and the first coordinate by an iterative method; and determining a rotation matrix and a translation vector between the camera and the lidar when the alignment is achieved. <EOS>