Worked on enhancing the reliability of lane connection handling in the esmini/esmini simulation repository, focusing on runtime safety and maintainability. Addressed critical issues by implementing validation checks to ensure lane_link objects were valid before operations, introducing early-exit guards to prevent null dereferences and reduce segmentation fault risk. This defensive programming approach improved simulation stability, particularly in real-time workflows where null references could cause crashes. Utilized C++ for both debugging and code refactoring, with clear documentation and traceability to specific issues. The work demonstrated a methodical approach to software engineering, emphasizing robust error handling and maintainable code in complex simulation environments.