Abstract: Amidst the rapid evolution of autonomous vehicle technologies, ensuring road safety remains a paramount challenge. Effective detection of lanes and potential hazards, including speed breakers and potholes, is critical for safe autonomous driving. In this study, we introduce an innovative Lane, Speed Breaker, and Pothole Detection System (LSPDS) utilizing YOLOv4 Tiny, a state-of-the-art object detection algorithm and computer vision techniques. Our system integrates computer vision and machine learning techniques for analysis of road conditions. By employing camera sensors, we capture the road scene and apply image processing algorithms to identify lanes, speed breakers, and potholes. Moreover, the system incorporates Firebase for user authentication and SMS services for real-time alerts. YOLOv4 Tiny is employed for accurate detection and classification of these features within the captured images, thereby enhancing the perception capabilities of autonomous vehicles.