Automatic lane detection to help the driver is an issue considered for the advancement of Advanced Driver Assistance Systems (ADAS) and a high level of application frameworks because of its importance in drivers and passerby safety in vehicular streets. But still, now it is a most challenging problem because of some factors that are faced by lane detection systems like as vagueness of lane patterns, perspective consequence, low visibility of the lane lines, shadows, incomplete occlusions, brightness and light reflection. The proposed system detects the lane boundary lines using computer vision-based technologies. In this paper, we introduced a system that can efficiently identify the lane lines on the smooth road surface. Gradient and HLS thresholding are the central part to detect the lane lines. We have applied the Gradient and HLS thresholding to identify the lane line in binary images. The color lane is estimated by a sliding window search technique that visualizes the lanes. The performance of the proposed system is evaluated on the KITTI road dataset. The experimental results show that our proposed method detects the lane on the road surface accurately in several brightness conditions.