Surroundings to see where a car is going (drawing projective)

Jun 2017
I want to solve one task to determine the surroundings on the road to see where a car is going (using camera).

Input data

I use Android smartphone and its camera. Android also can give many useful information (values) from its sensors

height of camera, mm
width of car (vehicle), mm
roll camera, degrees
pitch camera, degrees
horizontal/vertical angle of view (camera's field of view), degrees

Output data - the result I want to get (lines on the sides)

So I want to understand how to calculate points to draw such lines on the frames (photos) made by camera

Is there any known formulas for such tasks?