A method of determining an analysis area in lane detection, wherein the lane detection comprises performing image processing of a camera image captured by a camera on a vehicle, and the analysis area is an area in the camera image that is confined to perform the image processing, and the method includes: establishing a road coordinate system, and the road coordinate system is a world coordinate system in which a lane direction is an x-axis, a direction perpendicular to the x-axis and perpendicular to a road surface is a z-axis, and a direction perpendicular to both the x-axis and the z-axis is a y-axis, wherein an origin point of the world coordinate system is located in a center of a lane; establishing a camera coordinate system, wherein the camera coordinate system takes a vehicle traveling direction as an x c axis, a direction vertical to the x c axis and a vehicle body as a z c axis and a direction vertical to the x c axis and the z c axis as a y c axis, and the coordinates on the camera coordinate system can be converted to the coordinates in the camera image; determining a relative relation between the road coordinate system and the camera coordinate system, wherein the relative relation comprises a lateral shift of the camera relative to a center of the lane and an angle between a vehicle direction and a lane direction, where it is assumed that the vehicle direction and an azimuth angle of the camera are the same; determining a first domain in the camera coordinate system, wherein in the case of z c =0, for the two lanes along the center line of the lane, the first domain is determined as two areas which are symmetrical along the x c axis, and each area covers one lane, wherein the lateral shift is one quarter of a known lane width and the angle-is the half of the vehicle angle against the lane when doing the lane change, so that the first domain maintains coverage of the corresponding lane in the event of changes in relative relation; and converting the coordinates of the first domain in the camera coordinate system to the coordinates in the camera image, and forming the analysis area based on the converted coordinates. establishing a road coordinate system, and the road coordinate system is a world coordinate system in which a lane direction is an x-axis, a direction perpendicular to the x-axis and perpendicular to a road surface is a z-axis, and a direction perpendicular to both the x-axis and the z-axis is a y-axis, wherein an origin point of the world coordinate system is located in a center of a lane; establishing a camera coordinate system, wherein the camera coordinate system takes a vehicle traveling direction as an x c axis, a direction vertical to the x c axis and a vehicle body as a z c axis and a direction vertical to the x c axis and the z c axis as a y c axis, and the coordinates on the camera coordinate system can be converted to the coordinates in the camera image; determining a relative relation between the road coordinate system and the camera coordinate system, wherein the relative relation comprises a lateral shift of the camera relative to a center of the lane and an angle between a vehicle direction and a lane direction, where it is assumed that the vehicle direction and an azimuth angle of the camera are the same; determining a first domain in the camera coordinate system, wherein in the case of z c =0, for the two lanes along the center line of the lane, the first domain is determined as two areas which are symmetrical along the x c axis, and each area covers one lane, wherein the lateral shift is one quarter of a known lane width and the angle-is the half of the vehicle angle against the lane when doing the lane change, so that the first domain maintains coverage of the corresponding lane in the event of changes in relative relation; and converting the coordinates of the first domain in the camera coordinate system to the coordinates in the camera image, and forming the analysis area based on the converted coordinates.