This project extends the work of the F1Tenth team’s first year by implementing advanced control and motion planning algorithms for autonomous race-cars, with a focus on non-adversarial driving. We improved the existing reactive node by integrating a disparity extender to better handle dynamic obstacles and improve path selection, and by modifying the velocity function to maximise velocity on straights. Additionally, we implemented a pure-pursuit algorithm featuring a dynamic look-ahead distance to optimize path following.