I am creating a lane detection algorithm, I am struggling to find out how to measure the curve of the road, so I have drawn a line at the center of the lane, in which i want my ROS bot to follow, I have found a method to make the ROS bot follow a drawn on line, however I am struggling to make it follow the line drawn by open cv when it detects lanes.

Currently the ROS bot will only follow the lanes on top of the line and not in the middle of the lane

The lane

The bot will currently follow the yellow line, however that isnt how a car should drive, as it should be in the middle of the lane. So during my lane detection I drew 3 lines like this.

Lane Detection

The green line however isnt a physical line and is drawn from opencv, so i am struggling to make the bot follow the green line drawn.