Method for calibrating mobile vehicle

A method for automatically calibrating a mobile vehicle, comprising:

• the mobile vehicle performing a calibrating movement process, during which an odometer module of the mobile vehicle obtains a movement dataset related to movements of the mobile vehicle, and a light detection and ranging (lidar) module of the mobile vehicle obtains a distance dataset related to distances to surroundings detected by the lidar module;
• the control module generating a first lidar-related variation dataset based on the movement dataset, where the first lidar-related variation dataset is related to changes in pose of a lidar coordinate system of the lidar module during the calibrating movement process, and where the changes in pose of the lidar coordinate system are estimated by the control module;
• and
• the control module generating a calibrated coordinate parameter set and a calibrated angle parameter set based on the first lidar-related variation dataset and the distance dataset, where the calibrated coordinate parameter set is related to a position of the lidar module on the mobile vehicle, and where the calibrated angle parameter set is related to an angle of the lidar module relative to the mobile vehicle.