diff --git a/JetsonNano b/JetsonNano
index e423e0c..a138190 160000
--- a/JetsonNano
+++ b/JetsonNano
@@ -1 +1 @@
-Subproject commit e423e0c4bff2ddae6b9c33995c6d9e9c1c1d9162
+Subproject commit a138190ab1c340edd57d326d2e3ff7a489db7d65
diff --git a/README.md b/README.md
index 3ffa32e..f367066 100644
--- a/README.md
+++ b/README.md
@@ -12,6 +12,7 @@ Our autonomous vehicle platform integrates multiple computing systems, sensors,
- Machine learning models for perception tasks
- Dataset collection and management tools
+ to check all the features in a visual way.
## Repository Structure
```
diff --git a/RaspberryPi b/RaspberryPi
index 78ed392..8d790b5 160000
--- a/RaspberryPi
+++ b/RaspberryPi
@@ -1 +1 @@
-Subproject commit 78ed39292bf9f63cf2e1cddfbcef69b8898ef7e0
+Subproject commit 8d790b5d975bf26012d420099a6180df2a235d0b
diff --git a/docs/guidelines/features.md b/docs/guidelines/features.md
new file mode 100644
index 0000000..ca02fbc
--- /dev/null
+++ b/docs/guidelines/features.md
@@ -0,0 +1,103 @@
+# 🚗 JetRacer Driving Features
+
+This document showcases all the autonomous features developed for the JetRacer, each illustrated with a short demo GIF.
+
+---
+
+## 🔁 Adaptive Cruise Control (ACC)
+
+The car maintains a safe distance from the vehicle ahead by adjusting its speed automatically.
+
+
+ 
+
+
+---
+
+## 🛣️ Lane Keeping Assist System (LKAS)
+
+Keeps the car centered in its lane using lane detection and steering control.
+
+
+ 
+
+
+
+ 
+
+---
+
+## 🚶 Crosswalk Speed Reduction
+
+Automatically reduces speed when approaching a pedestrian crosswalk.
+
+
+ 
+
+
+---
+
+## 🛑 Stop Sign Detection
+
+Detects stop signs and makes a full stop before continuing.
+
+
+ 
+
+
+---
+
+## 🚦 Traffic Light Handling
+
+Recognizes traffic light colors and responds accordingly (stop on red, go on green).
+
+
+ 
+
+
+---
+
+## 🚧 Obstacle Avoidance
+
+Avoids static or dynamic obstacles on the road while keeping the lane.
+
+
+ 
+
+
+---
+
+## 🆘 Emergency Braking
+
+Performs an emergency stop when a sudden obstacle is detected.
+
+
+ 
+
+
+---
+
+## ⛔ Trajectory Feasibility Check
+
+Prevents the car from taking a path that is geometrically impossible or dangerous.
+
+
+ 
+
+
+---
+
+## 🔒 Safety Conditions
+
+Ensures basic safety rules are always respected.
+
+
+ 
+
+
+---
+
+## 📌 Notes
+
+- All features were tested in a controlled environment using the JetRacer.
+- CAN protocol was used for communication between perception, control modules and UI instrument cluster.
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