I have a bunch of images from different trucks passing the road. The truck needs to be at a certain distance from the lane. Some of the trucks are way close to the lane (that you can see on the shoulder of the road). I want to find a way to measure the distance between the truck and the lane and detect those which intruded this.

I am looking for solving this problem with training a deep learning based classifier or image processing techniques. Painting the ground is also possible if I can train a classification algorithm with painted images.

ps. I exactly do not need to know how much is distance, I only need to know whether trucks are intruded the certain distance or not.