feat(acc): Autonomous Cruise Controller — lateral/longitudinal control with LiDAR braking and intersection compliance - #503

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siddarthnandy wants to merge 16 commits into

Nova-UTD:devfrom

siddarthnandy:fix/planning-stability

Commits on Jun 12, 2026

fix(planning): remove path cache, widen lookahead, restore 20 Hz costmap
Navigator Dev
committed
50d5272

Commits on Jun 16, 2026

feat(acc): swap pure pursuit for ACC, fix speed reading, tune lookahead
Navigator Dev
committed
61e5dd6
fix(acc): correct base_link frame handling in lateral controller
Navigator Dev
committed
c803132
fix(acc): negate steering to match CARLA sign convention
Navigator Dev
committed
03db586
feat(acc): add traffic light compliance and intersection manager
Navigator Dev
committed
2cd6b4b
feat(acc): LiDAR-based forward obstacle braking
Navigator Dev
committed
cc42916

Commits on Jun 17, 2026

fix(acc): tighten LiDAR corridor to prevent false braking on turns
snandyala
committed
f1000a0
fix(acc): path-aware LiDAR obstacle detection to prevent false braking on turns
snandyala
committed
79e3475
feat(acc): path-aware LiDAR braking + CARLA traffic light compliance
snandyala
committed
fa51a0a
fix(acc): restore missing qos_profile and add traffic_light_callback method
snandyala
committed
aa86f54
fix(acc): raise CREEP to 1.0 m/s and tighten path tolerance to 0.6m
snandyala
committed
64e0901

Commits on Jun 22, 2026

fix(planning): cap camera-confirmed goal search to a short, reliable range
snandyala
committed
462434a
fix(acc): close LiDAR near-field blind spot causing collisions with stopped vehicles
snandyala
committed
7457f9f
fix(planning): route around obstacles instead of stopping short, bump grid rates to 20Hz
snandyala
committed
b993a7d
revert: back out all planning/ACC/perception changes from this session
snandyala
committed
9173cbc

Commits on Jul 8, 2026

checkpoint: 20Hz grids/planner, GPU camera segmentation, ACC dead-zone fix, lane grid node

snandyala
and
claude
committed
14c8207