1. Introduction
Deep learning has been essential for recent advances in numerous areas, especially in autonomous driving [2]. Many of the deep learning applications in self-driving cars are in their perception systems. To be safe around humans, autonomous vehicles should perceive their surroundings, including the position of other vehicles and themselves. In the end, the more predictable a car’s movement is, the safer it will be for its passengers and pedestrians. Thus, it is important for autonomous vehicles to know each lane’s exact position, which is the goal of lane detection systems.