During April 2025, K.S. focused on improving lane selection logic in the tier4/scenario_simulator_v2 repository by addressing a bug in the Lane Matching module. They implemented an absolute-distance-based approach for nearest lane identification, replacing the previous method to ensure the closest lane is always selected. This solution involved algorithm implementation and software development using C++, and was validated through scenario simulations to confirm reliability and prevent regressions in related modules. By refining the lane selection process, K.S. enhanced the determinism and reliability of downstream planners, reducing debugging time and contributing to more robust lane-level decision-making within the simulation framework.