Hi,
This problem is a known research problem in the community and is known by Lane detection, you can find enough resources/paper in the research community, Although we have implemented this as well but using Hough transform and the link is here. But since you mentioned, you aren't interested in hough transform, you can look up some recent papers on Lane detection, I personally never tried this but surely it is great problem to invest a time in. Try checking out PolyLaneNet paper, it came out very recently.
Cheers.
