Method for generating a lane departure warning in a vehicle, comprising acquiring a plurality of frames of a digital image of a road on which the vehicle is running, said digital image of a road including the image of a lane within which the vehicle is running and of marking lines (LLS, RLS) of said lane, for each of said acquired frames extracting edge points (EP k) of the frame (Fk) - performing a lane calibration procedure on a first number (th_cal) of acquired frames in said plurality of frames to obtain reference data including reference positions (LT ref, RT ref) of said lane; - performing a lane departure verification procedure in frames following said first number (th_cal) of acquired frames by identifying in a frame under evaluation points (P LT, P RT) representative of the position of the lane marking lines (LLS, LSS) and comparing the position of said points (P LT, P RT) to said reference positions (LT ref, RT ref); generating a lane departure alert if a lane departure status is detected by said lane departure verification procedure, wherein the lane calibration procedure is performed on the basis of data defining a position in the frame and a size of a horizontal stripe, including filtering said edge points (EP k) extracted from the image frame (F k), to obtain edge points (EPS k) belonging to an area of said horizontal stripe of said frame (F k) including a plurality of rows of said frame (F k), after said filtering step, a step of collecting the values and positions of said filtered edge points (EPS K) and calculating a distribution of the filtered edge points (EPS k) along the width of the road for each of the first number (th_cal) of frames, then extracting an estimate of the marking line position (iLT, iRT) and marking line width (LW, FW) from said distributions calculating said reference positions (LT ref, RT ref) of said lane as a function of said estimates of the marking line position (iLT, iRT) and marking line width (LW, FW) temporally averaged over the first number (th_cal) of frames in said set of acquired frames. acquiring a plurality of frames of a digital image of a road on which the vehicle is running, said digital image of a road including the image of a lane within which the vehicle is running and of marking lines (LLS, RLS) of said lane, for each of said acquired frames extracting edge points (EP k) of the frame (Fk) - performing a lane calibration procedure on a first number (th_cal) of acquired frames in said plurality of frames to obtain reference data including reference positions (LT ref, RT ref) of said lane; - performing a lane departure verification procedure in frames following said first number (th_cal) of acquired frames by identifying in a frame under evaluation points (P LT, P RT) representative of the position of the lane marking lines (LLS, LSS) and comparing the position of said points (P LT, P RT) to said reference positions (LT ref, RT ref); - performing a lane calibration procedure on a first number (th_cal) of acquired frames in said plurality of frames to obtain reference data including reference positions (LT ref, RT ref) of said lane; - performing a lane departure verification procedure in frames following said first number (th_cal) of acquired frames by identifying in a frame under evaluation points (P LT, P RT) representative of the position of the lane marking lines (LLS, LSS) and comparing the position of said points (P LT, P RT) to said reference positions (LT ref, RT ref); generating a lane departure alert if a lane departure status is detected by said lane departure verification procedure, wherein the lane calibration procedure is performed on the basis of data defining a position in the frame and a size of a horizontal stripe, including filtering said edge points (EP k) extracted from the image frame (F k), to obtain edge points (EPS k) belonging to an area of said horizontal stripe of said frame (F k) including a plurality of rows of said frame (F k), after said filtering step, a step of collecting the values and positions of said filtered edge points (EPS K) and calculating a distribution of the filtered edge points (EPS k) along the width of the road for each of the first number (th_cal) of frames, then extracting an estimate of the marking line position (iLT, iRT) and marking line width (LW, FW) from said distributions calculating said reference positions (LT ref, RT ref) of said lane as a function of said estimates of the marking line position (iLT, iRT) and marking line width (LW, FW) temporally averaged over the first number (th_cal) of frames in said set of acquired frames.