A method for monitoring a vehicle driving state comprising the steps of: a) obtaining a first image for a scene in front of a vehicle so as to recognize which lane the vehicle currently travels in; b) obtaining a second image having a driving-restriction board; the driving-restriction board being a board displaying a driving-restriction information; c) recognizing, from the driving-restriction board, the driving-restriction information for a region where the vehicle is currently in; further characterized in that it comprises the steps of: d1) determining whether a vehicle driving state defined as a relationship of the recognized lane, the vehicle type and the current driving speed and the driving-restriction information match; and d2) if it does not match, generating a message for warning; wherein the driving-restriction information is a defined relationship among lane, vehicle type and driving speed restriction; e) wherein the first image and the second image are obtained by a first camera and a second camera (141 B), wherein the first camera is disposed at a middle position of the head of the vehicle, and the second camera is disposed at a middle position of an upper portion of the front windshield of the vehicle; and f) wherein the step of obtaining a second image having the driving-restriction board comprises the steps of: f1) activating the second camera (141 B) when it is determined that the vehicle is spaced apart from the driving-restriction board by a first set distance determined on the basis of a location signal obtained from a satellite and navigation data obtained from a navigation device.; f2) obtaining the second image when it is determined that the vehicle is spaced apart from the driving-restriction board by a second set distance determined on the basis of a location signal obtained from a satellite and navigation data obtained from a navigation device; and f3) deactivating the second camera (141 B) when the acquisition of the second image is completed, f4) wherein the first set distance is larger than the second set distance, and the distance between the vehicle and the driving-restriction board is determined by means of navigation data by a navigation device. a) obtaining a first image for a scene in front of a vehicle so as to recognize which lane the vehicle currently travels in; b) obtaining a second image having a driving-restriction board; the driving-restriction board being a board displaying a driving-restriction information; c) recognizing, from the driving-restriction board, the driving-restriction information for a region where the vehicle is currently in; further characterized in that it comprises the steps of: d1) determining whether a vehicle driving state defined as a relationship of the recognized lane, the vehicle type and the current driving speed and the driving-restriction information match; and d2) if it does not match, generating a message for warning; wherein the driving-restriction information is a defined relationship among lane, vehicle type and driving speed restriction; e) wherein the first image and the second image are obtained by a first camera and a second camera (141 B), wherein the first camera is disposed at a middle position of the head of the vehicle, and the second camera is disposed at a middle position of an upper portion of the front windshield of the vehicle; and f) wherein the step of obtaining a second image having the driving-restriction board comprises the steps of: f1) activating the second camera (141 B) when it is determined that the vehicle is spaced apart from the driving-restriction board by a first set distance determined on the basis of a location signal obtained from a satellite and navigation data obtained from a navigation device.; f2) obtaining the second image when it is determined that the vehicle is spaced apart from the driving-restriction board by a second set distance determined on the basis of a location signal obtained from a satellite and navigation data obtained from a navigation device; and f3) deactivating the second camera (141 B) when the acquisition of the second image is completed, f4) wherein the first set distance is larger than the second set distance, and the distance between the vehicle and the driving-restriction board is determined by means of navigation data by a navigation device.