The invention discloses a camera calibration method, terminal equipment and a computer readable storage medium. Through the terminal equipment, multiple to-be-calibrated images are transformed into atarget coordinate system according to a preset matrix, a light stream vector corresponding to each pixel in each to-be-calibrated image is obtained, an overlapping region of all the to-be-calibrated images is searched for, the searched pixels with the highest light stream vector matching degree serve as target pixels, target pixel coordinates of all the target pixels are obtained, coordinate difference values of all the target pixel coordinates are calculated, the preset matrix is updated according to the coordinate difference values, according to the updated preset matrix, the overlapping area is transformed into the target coordinate system, overlapping factors of the overlapping area are calculated, and when the overlapping factors are larger than a preset threshold value, according tothe coordinates of the overlapping area in the target coordinate system, all the to-be-calibrated images are calibrated. The dependence on fixed sites and precise vehicle positions can be reduced, andvehicles can be precisely calibrated in real time.