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The velocity_set package uses lidar data to detect objects which are within a specified radius of the upcoming waypoints. If a vehicle is in the intended path of your testing vehicle, it will be detected by velocity_set and stop a (configurable) distance from that obstacle. If the obstacle (vehicle) then moves away, your vehicle will begin moving forward again until the gap between the vehicles is below a specific threshold, and then stop. However, this only truly works (and has been tested in) very low-speed environments and is more of a TJA (traffic-jam-assist) than a real ACC.