Lane departure early warning method, device, equipment and storage medium

The invention belongs to the technical field of vehicle early warning, and particularly relates to a lane departure early warning method and device, equipment and a storage medium. The method comprises the following steps: acquiring a feature image shot by a vehicle-mounted camera of a vehicle, and extracting a first lane line; according to the first lane line, adopting a re-projection transformation equation to obtain a second lane line; according to the second left lane line and the second right lane line, a first included angle is determined, and the first included angle is an included angle between the second left lane line and the second right lane line in the image memory buffer area coordinate system; when the dynamically acquired first included angle is reduced and the reduced time length exceeds the preset deviation time length, determining that the vehicle deviates from the lane, and performing lane deviation early warning; according to the method, lane departure early warning can be realized only b