A computer-implemented road information detection method, wherein the method comprises the steps of: receiving a front-looking image from at least one front-looking camera apparatus and a rear-looking image from at least one rear-looking camera apparatus , wherein the at least one front-looking camera apparatus and at least one rear-looking camera apparatus are sensors of a vehicle; obtaining front-looking lane line information based on the front-looking image, and obtaining rear-looking lane line information based on the rear-looking image, according to a road structure model; and determining target lane line information based on the front-looking lane line information and the rear-looking lane line information, characterized in that the front-looking lane line information comprises a correspondence of a front-looking lane line and a probability that the front-looking lane line exists, and the rear-looking lane line information comprises a correspondence of a rear-looking lane line and a probability that the rear-looking lane line exists, wherein the correspondence comprises a correspondence between a horizontal offset and a longitudinal offset of the road structure model; and the step of determining target lane line information based on the front-looking lane line information and the rear-looking lane line information comprises: fusing the correspondence of the front-looking lane line, the probability that the front-looking lane line exists, the correspondence of the rear-looking lane line, and the probability that the rear-looking lane line exists, to obtain a correspondence between a horizontal offset and a longitudinal offset of the target lane line. receiving a front-looking image from at least one front-looking camera apparatus and a rear-looking image from at least one rear-looking camera apparatus , wherein the at least one front-looking camera apparatus and at least one rear-looking camera apparatus are sensors of a vehicle; obtaining front-looking lane line information based on the front-looking image, and obtaining rear-looking lane line information based on the rear-looking image, according to a road structure model; and determining target lane line information based on the front-looking lane line information and the rear-looking lane line information, characterized in that the front-looking lane line information comprises a correspondence of a front-looking lane line and a probability that the front-looking lane line exists, and the rear-looking lane line information comprises a correspondence of a rear-looking lane line and a probability that the rear-looking lane line exists, wherein the correspondence comprises a correspondence between a horizontal offset and a longitudinal offset of the road structure model; and the step of determining target lane line information based on the front-looking lane line information and the rear-looking lane line information comprises: fusing the correspondence of the front-looking lane line, the probability that the front-looking lane line exists, the correspondence of the rear-looking lane line, and the probability that the rear-looking lane line exists, to obtain a correspondence between a horizontal offset and a longitudinal offset of the target lane line. <EOS>