1. A lane detection method comprising: extracting feature points of a driving lane from an input road image; extracting candidate start points and candidate end points from candidate control points selected from among the feature points; selecting a left start point and a right start point of the driving lane from among the candidate start points based on information corresponding to a width of the driving lane; and selecting a left end point and a right end point of the driving lane from among the candidate end points based on a number of the candidate control points between each of the left start point and the candidate end points and the right start point and the candidate end points.