1. A method for detecting lanes, including: generating at least one spatiotemporal image by storing along the time axis at least one line image that contains pixels corresponding to at least one horizontal line established in a road video; detecting, in lane patterns contained in each of the at least one spatiotemporal image, two or more lane points that correspond to the present moment; and detecting lanes by tracing the two or more lane points over time in each of the at least one spatiotemporal image.