Lane departure detection method and device, equipment and storage medium

The invention discloses a lane departure detection method and device, equipment and a storage medium, and belongs to the technical field of vehicle control. The method comprises the steps that lane line parameters and vehicle driving parameters in the vehicle driving process are collected; fitting the lane line parameters and the vehicle driving parameters to obtain the distance between the vehicle body part of the vehicle and the lane line; in response to the fact that the distance between the vehicle body part of the vehicle and the lane line is smaller than the reference distance, a detection result is obtained and used for indicating whether a steering lamp corresponding to the vehicle deviation direction is turned on or not; acquiring the torque of a steering wheel of the vehicle in response to the detection result indicating that the steering lamp corresponding to the vehicle deviation direction is not turned on; in response to the torque of the steering wheel being less than or equal to the reference t