Data Flow

Middleware

• CAN → Zenoh: speed
• Zenoh → CAN: lights, battery, automation levels, LKAS enable, ACC enable, emergency braking alerts

Detection → Controller

• lane_midpoint_error → PIDController (steering)
• trajectory_line → MPCController (steering)
• obstacle/road + object tracks → emergency brake and ACC inputs
• sign/light classifications → behavior adjustments (speed/brake)

Controller → Middleware

• Body: lights, hazards, indicators
• Automation signals: lights, automation levels, LKAS enable, ACC