Worked on refining collision avoidance logic within the technolojin/autoware.universe repository, focusing on improving code readability and maintainability. The main contribution involved a targeted refactor of boolean argument names in collision avoidance calculations, which clarified semantics and reduced the risk of misinterpretation in decision-making logic. Automated style fixes were applied using pre-commit tools to enforce consistent coding standards and minimize stylistic drift. The work leveraged C++ and algorithm design skills, emphasizing software engineering best practices. These changes enhanced the clarity of the codebase, making future enhancements more manageable and supporting the long-term reliability of the collision avoidance system.