The invention discloses a visual detection method of a road driving line. The invention comprises the following steps: firstly, detecting all of edges of a given original road image through edge detection, and obtaining an edge image; secondly, respectively defining search rules based on direction priority for a left lane line and a right lane line, using the search rules for searching the edge image, and recording each search path in the search so as to transform the edge image to a set of candidate line sections; thirdly, carrying out Hough transformation on each line section of the set of the candidate line sections, counting collinear points of the line sections in the Hough space, and filtering the line sections with the collinear points less then T2; and fourthly, utilizing luminance information of the original image for carrying on a series of transformation processing on the candidate line sections remained after processing in the third step, eliminating cracks of the road surface and regular edge interference of join of the new and old road surfaces, identifying the lane lines, and completing the positioning of the lane lines. The scheme of the invention follows an idea from coarseness to fineness, and has accurate positioning and high real-time performance when being compared with the prior scheme.