This is a video of the code working on a actual vehicle. cool right? :)
I know it appears quite janky when looked at like this but I had applied smoothing so the actual controlling of the car was smoother and didnt involve as many jerks.

test2.1.1.mov

Steering - lane detection (semantic segmentation) + Geometry (n lines equation, region selection, average line, angle bisector, slope, angle)

Green area - drivable region (semantic segmentation)

obstacle detection - YOLOv5