Suggestions for Lane Detection of multiple lanes

Hello guys, I am a student currently working on a project in Python using OpenCV, the requirements are to be able to detect the positioning of the ego vehicle on the road, as in, which lane it currently is situated on.


I used perspective transformation, lane thresholding, canny operator and Hough transform (picture below), it can barely detect lines in two / three lanes, and it's not reliable as of now. plus I need to actually use that lane id …

computervision detection multiple opencv perspective project python requirements thresholding transformation