Based on a really cursory inspection of the binary and symbols, the binary seems to be an OpenCV project which uses some common image processing algorithms (Sobel edge detection, Hough to find straight lines).

There doesn't seem to be a large amount of embedded data indicative of a trained model or neural network.

So, it seems that the vision algorithms probably mirror those in the common literature and represent a reimplementation or iterative improvement on existing lane-finding systems.

More reversing would probably yield greater insight :)