OpenCV Autonymous Car Curve Detection

I am trying to create an autonomous model car with OpenCV and Python. I have all the hardware figured out but need to decide how to detect the lanes and steer the car.

The resource that most explains my idea is this article: Advanced Lane Detection for Autonomous Vehicles using Computer Vision techniques | by Raj Uppala | Towards Data Science

I am in middle school and therefore do not know advance algebra, calculus, or geometry. This is my first time experimenting with OpenCV so would someone point me to a beginner friendly tutorial or walk me through the this process?

If it helps I can share the camera (wide angle) I would be using for calibration.

Any help would be greatly appreciated