Worked on the tier4/AWSIM repository to enhance core traffic navigation features within a simulation environment. Refactored traffic utility logic by centralizing functions into RandomTrafficUtils, improving maintainability and consistency across the codebase. Extended distance calculations for NPC vehicles to include intersections, traffic lights, and next-lane routing, which improved lane-following accuracy and stop-line detection. Addressed a critical bug related to function invocation for traffic light distance, ensuring correct stop-line calculations. Applied linting and code cleanup to align with project standards. Utilized C#, Unity, and software design principles to deliver more realistic and reliable traffic simulation for future development.