A lane detection method comprising: setting regions of interest, ROIs, in a forward-view image of a vehicle, comprising: setting a basic ROI indicating an entire road region in the forward-view image and setting an additional ROI comprising a portion of the basic ROI; wherein the basic ROI includes a road region located at a shorter distance from the vehicle and a road region located at a longer distance from the vehicle, and wherein the additional ROI comprises the road region located at the longer distance from the vehicle for which accurate lane detection is needed; decreasing an image resolution of the basic ROI, comprising downsampling the basic ROI, estimating lane pixels for each of the ROIs, comprising: estimating first lane pixels from the basic ROI with the lowered image resolution using a first neural network-based detector; and, estimating second lane pixels from the additional ROI using a second neural network-based detector; determining lane pixels from the basic ROI with its original image resolution based on the first lane pixels estimated from the basic ROI with the adjusted image resolution; and determining a lane region in the forward-view image by merging the result of determining lane pixels from the basic ROI with its original image resolution and the result of estimating the second lane pixels from the additional ROI. setting regions of interest, ROIs, in a forward-view image of a vehicle, comprising: setting a basic ROI indicating an entire road region in the forward-view image and setting an additional ROI comprising a portion of the basic ROI; wherein the basic ROI includes a road region located at a shorter distance from the vehicle and a road region located at a longer distance from the vehicle, and wherein the additional ROI comprises the road region located at the longer distance from the vehicle for which accurate lane detection is needed; setting a basic ROI indicating an entire road region in the forward-view image and setting an additional ROI comprising a portion of the basic ROI; wherein the basic ROI includes a road region located at a shorter distance from the vehicle and a road region located at a longer distance from the vehicle, and wherein the additional ROI comprises the road region located at the longer distance from the vehicle for which accurate lane detection is needed; decreasing an image resolution of the basic ROI, comprising downsampling the basic ROI, estimating lane pixels for each of the ROIs, comprising: estimating first lane pixels from the basic ROI with the lowered image resolution using a first neural network-based detector; and, estimating second lane pixels from the additional ROI using a second neural network-based detector; estimating first lane pixels from the basic ROI with the lowered image resolution using a first neural network-based detector; and, estimating second lane pixels from the additional ROI using a second neural network-based detector; determining lane pixels from the basic ROI with its original image resolution based on the first lane pixels estimated from the basic ROI with the adjusted image resolution; and determining a lane region in the forward-view image by merging the result of determining lane pixels from the basic ROI with its original image resolution and the result of estimating the second lane pixels from the additional ROI. <EOS>