A method, apparatus, device, and medium for calibrating a pose relationship between a vehicle sensor and a vehicle are provided. The method includes: acquiring, by a field-end sensor mounted in a side edge area of the calibration environment, a first image of the calibration environment, and acquiring a second image of the calibration environment by a vehicle sensor, different identifier units being laid on a spatial plane of the calibration environment; determining a first pose transformation relationship between a vehicle coordinate system and a world coordinate system based on the first image; determining a second pose transformation relationship between a vehicle sensor coordinate system and the world coordinate system based on the second image; and calibrating the pose relationship between the vehicle sensor and the vehicle using the above determined pose transformation relationships.