The invention relates to a vehicle self-starting method based on visual perception. The method specifically comprises the following steps that: S1, an in-vehicle camera detects that a passenger gets on a vehicle and takes a seat, a safety belt sensor detects whether a safety belt is inserted into a safety belt clamping groove or not, safety belt prompt information is transmitted to the passenger if the safety belt is not inserted, and S2 is executed if the safety belt is inserted; S2, a vehicle door sensor detects whether a vehicle door is closed or not, if not, vehicle door prompt informationis sent to the passenger, and if yes, S3 is executed; S3, an outside-vehicle sensing device detects whether an obstacle exists around the vehicle and calculates the obstacle distance from the obstacle to the vehicle, and if the obstacle distance is smaller than a set safety distance, the outside-vehicle sensing device sends a starting instruction to a central decision system, and the central decision system starts an engine according to the starting instruction, otherwise, the outside-vehicle sensing device sends obstacle clearing prompt information to the passenger. Compared with the prior art, the method has the advantages that the starting experience and safety coefficient of automatic driving are improved, the information processing performance is improved, and the information transmission time is shortened.