At First, resize the image and then convert frame as Bird view and then use a combination of color and gradient thresholds to generate a binary image.
Step 1: Undisort Image.
Step 2: Binary Image.
Step 3: Take a histogram along all the columns in the lower half of the image and split histogram for two sides for each lane.
Step 4: Use the two highest peaks from histogram as a starting point for determining where the lane lines are, and then use sliding windows moving upward in the image to determine where the lane lines go.
Example:

Step 5: Identify lane-line pixels.
Find all non zero pixels.
Example:

Step 6: Fit their positions with a polynomial.
After performing 2nd order polynomial fit for nonzero pixels, drawing polyline and unwrap image the final output.
Example:

1- Ubuntu 18.04.01 .
2- OpenCV 3.4 or greater.
3- openMP required.
4- Run LaneDetection.sh, this script will compile and run the code.