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With the development of autonomous driving technology, effective access to information on lane lines is of great significance for the decision-making of unmanned vehicles. The Canny operator is widely used in identifying the edge of the lane line, but the adaptive ability and anti-interference ability of the traditional Canny operator are flawed. In this paper, the lane line edge detection algorithm of the adaptive Canny algorithm is improved, and the adaptive median filtering and morphological closing operation are used to prevent the edge information from weakening while using multiple directions to calculate gradient magnitude. Finally, iterative method is used to improve the OSTU adaptive algorithm to determine its high and low thresholds. The test results show that the improved algorithm can effectively improve the accuracy, speed and anti-interference ability of the detection.