Developed a robust Cruise Control System for the Rivanna3 repository, focusing on real-time speed regulation and safety. Leveraging C++ and embedded systems expertise, implemented a PID-based control loop that maintains vehicle speed automatically and safely disables cruise control in response to faults or braking events. The system operates on a deterministic 10 ms schedule, with precise timing and CAN Bus communication adjustments to ensure reliable performance. Enhanced code maintainability by capitalizing constants and aligning timing references, facilitating future updates and hardware-in-the-loop testing. This work established a solid foundation for ongoing cruise control refinements and integration with advanced control systems.