diff --git a/code/planning/CMakeLists.txt b/code/planning/CMakeLists.txt
index 34c3ccd0..c6288e03 100755
--- a/code/planning/CMakeLists.txt
+++ b/code/planning/CMakeLists.txt
@@ -13,8 +13,11 @@ project(planning)
 find_package(catkin REQUIRED COMPONENTS
   perception
   rospy
+  rosout
   roslaunch
   std_msgs
+  geometry_msgs
+  message_generation
 )
 
 roslaunch_add_file_check(launch)
@@ -48,9 +51,11 @@ catkin_python_setup()
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   MinDistance.msg
-# )
+ add_message_files(
+   FILES
+   NavigationPoint.msg
+   Trajectory.msg
+ )
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -67,9 +72,12 @@ catkin_python_setup()
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   perception
-# )
+ generate_messages(
+   DEPENDENCIES
+   std_msgs
+   perception
+   geometry_msgs
+ )
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -105,7 +113,7 @@ catkin_package(
 #  LIBRARIES planning
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
-  CATKIN_DEPENDS perception rospy
+  CATKIN_DEPENDS perception rospy message_runtime
 )
 
 ###########
diff --git a/code/planning/msg/NavigationPoint.msg b/code/planning/msg/NavigationPoint.msg
new file mode 100644
index 00000000..e9eb53c9
--- /dev/null
+++ b/code/planning/msg/NavigationPoint.msg
@@ -0,0 +1,3 @@
+geometry_msgs/Point position
+float32 speed
+uint8 behaviour
\ No newline at end of file
diff --git a/code/planning/msg/Trajectory.msg b/code/planning/msg/Trajectory.msg
new file mode 100644
index 00000000..94060cdd
--- /dev/null
+++ b/code/planning/msg/Trajectory.msg
@@ -0,0 +1,2 @@
+Header header
+planning/NavigationPoint[] navigationPoints
\ No newline at end of file
diff --git a/code/planning/package.xml b/code/planning/package.xml
index a321a109..daf36bc6 100755
--- a/code/planning/package.xml
+++ b/code/planning/package.xml
@@ -47,6 +47,9 @@
   <!--   <test_depend>gtest</test_depend> -->
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+
   <build_depend>rospy</build_depend>
   <build_depend>roslaunch</build_depend>
 
@@ -57,6 +60,7 @@
   <exec_depend>carla_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>perception</exec_depend>
 
   <build_depend>perception</build_depend>
diff --git a/code/planning/src/BehaviourEnum.py b/code/planning/src/BehaviourEnum.py
new file mode 100644
index 00000000..361b0b43
--- /dev/null
+++ b/code/planning/src/BehaviourEnum.py
@@ -0,0 +1,8 @@
+from enum import IntEnum
+
+# getattr(Behaviour, "name").value returns the ID
+# Behaviour(id) returns Behaviour.NAME
+
+
+class BehaviourEnum(IntEnum):
+    CRUISING = 0
diff --git a/doc/assets/overview.jpg b/doc/assets/overview.jpg
index 3bdc9225..7c6b3c76 100644
Binary files a/doc/assets/overview.jpg and b/doc/assets/overview.jpg differ
diff --git a/doc/general/README.md b/doc/general/README.md
index cbf937f4..fbde8778 100644
--- a/doc/general/README.md
+++ b/doc/general/README.md
@@ -4,4 +4,5 @@ This Folder contains instruction on installation, execution and architecture of
 
 1. [Installation](./installation.md)
 2. [Execution](./execution.md)
-3. [Current architecture of the agent](./architecture.md)
+3. [Current architecture of the agent](./architecture_current.md)
+4. [Planned architecture of the agent](./architecture_planned.md)
diff --git a/doc/general/architecture_current.md b/doc/general/architecture_current.md
new file mode 100644
index 00000000..aa0a472a
--- /dev/null
+++ b/doc/general/architecture_current.md
@@ -0,0 +1,371 @@
+# Current architecture of the vehicle agent
+
+**Summary:** This page gives an overview over the current general architecture of the vehicle agent.
+The document contains an overview over all [nodes](#overview) and [topics](#topics). Additionally a visual thematic grouping of the subsystems of the agent is done for an easier optical identification which nodes and topics belong/contribute to them.
+
+- [Overview](#overview)
+- [Perception](#perception)
+  - [Vision Node (vision\_node.py)](#vision-node-vision_nodepy)
+  - [Traffic Light Detection (traffic\_light\_node.py)](#traffic-light-detection-traffic_light_nodepy)
+  - [Position Heading Node (position\_heading\_publisher\_node.py)](#position-heading-node-position_heading_publisher_nodepy)
+  - [Global distances (global\_plan\_distance\_publisher.py)](#global-distances-global_plan_distance_publisherpy)
+  - [Kalman filtering (kalman\_filter.py)](#kalman-filtering-kalman_filterpy)
+  - [Localization](#localization)
+- [Planning](#planning)
+  - [PrePlaner (global\_planner.py)](#preplaner-global_plannerpy)
+  - [Behavior Agent (behavior\_agent)](#behavior-agent-behavior_agent)
+  - [Local Planning](#local-planning)
+- [Acting](#acting)
+  - [MainFramePublisher](#mainframepublisher)
+  - [pure\_pursuit\_controller](#pure_pursuit_controller)
+  - [stanley\_controller](#stanley_controller)
+  - [vehicle\_controller](#vehicle_controller)
+  - [velocity\_controller](#velocity_controller)
+
+## Overview
+
+The vehicle agent is split into three major components: [Perception](#Perception), [Planning](#Planning)
+and [Acting](#Acting).
+A separate node is responsible for the [visualization](#Visualization).
+The topics published by the Carla bridge can be
+found [here](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_sensors/).\
+The messages necessary to control the vehicle via the Carla bridge can be
+found [here](https://carla.readthedocs.io/en/0.9.8/ros_msgs/#CarlaEgoVehicleControlmsg).
+
+The miro-board can be found [here](https://miro.com/welcomeonboard/a1F0d1dya2FneWNtbVk4cTBDU1NiN3RiZUIxdGhHNzJBdk5aS3N4VmdBM0R5c2Z1VXZIUUN4SkkwNHpuWlk2ZXwzNDU4NzY0NTMwNjYwNzAyODIzfDI=?share_link_id=785020837509).
+![Architecture overview](../assets/overview.jpg)*Connections between nodes visualized*
+
+![Department node overview](../assets/research_assets/node_path_ros.png)*In- and outgoing topics for every node of the departments*
+
+## Perception
+
+The perception is responsible for the efficient conversion of raw sensor and map data into a useful
+environment representation that can be used by the [Planning](#Planning) for further processing.
+It provides localization of the agent, filtering noise from sensor data, preconditions images for further usage in other nodes and detects certain points of interest (at the moment only traffic lights).
+
+Further information regarding the perception can be found [here](../perception/README.md).
+Research for the perception can be found [here](../research/paf24/perception/).
+
+In the following, all subscribed and published topics and their corresponding nodes are listed with the format:
+
+- ```name of topic``` \(origin/destination node\) (typo of message) (link to ROS documentation of the message type)
+
+### Vision Node ([vision_node.py](/../paf/code/perception/src/vision_node.py))
+
+Evaluates sensor data to detect and classify objects around the ego vehicle.
+Other road users and objects blocking the vehicle's path are recognized (most of the time).
+Recognized traffic lights get cut out from the image and made available for further processing.
+
+Subscriptions:
+
+- ```/paf/hero/Center/dist_array``` \(/lidar_distance\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```/carla/hero/Center/image``` \(/carla_ros_bridge\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```/carla/hero/Back/image``` \(/carla_ros_bridge\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```/carla/hero/Left/image``` \(/carla_ros_bridge\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```/carla/hero/Right/image``` \(/carla_ros_bridge\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+
+Publishes:
+
+- ```/paf/hero/Center/segmented_image``` \(/rviz\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```/paf/hero/Back/segmented_image``` \(/rviz\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```/paf/hero/Left/segmented_image``` \(/rviz\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```/paf/hero/Right/segmented_image``` \(/rviz\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```/paf/hero/Center/object_distance``` \(/CollisionCheck\) ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+- ```/paf/hero/Back/object_distance``` \(/CollisionCheck\) ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+- ```/paf/hero/Left/object_distance``` \(/CollisionCheck\) ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+- ```/paf/hero/Right/object_distance``` \(/CollisionCheck\) ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+- ```/paf/hero/Center/segmented_traffic_light``` \(/TrafficLightNode\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```/paf/hero/Back/segmented_traffic_light``` \(/TrafficLightNode\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```/paf/hero/Left/segmented_traffic_light``` \(/TrafficLightNode\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```/paf/hero/Right/segmented_traffic_light``` \(/TrafficLightNode\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+
+### Traffic Light Detection ([traffic_light_node.py](/../paf/code/perception/src/traffic_light_node.py))
+
+Recognizes traffic lights and what they are showing at the moment.
+In particular traffic lights that are relevant for the correct traffic behavior of the ego vehicle,
+are recognized early and reliably.
+
+Subscriptions:
+
+- ```/paf/hero/Center/segmented_traffic_light``` \(/VisionNode\) ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+
+Publishes:
+
+- ```/paf/hero/Center/traffic_light_state``` \(/behavior_agent\) ([perception/TrafficLightState](/../paf/code/perception/msg/TrafficLightState.msg))
+- ```/paf/hero/Center/traffic_light_y_distance``` \(/behavior_agent\) ([std_msgs/Int16](https://docs.ros.org/en/api/std_msgs/html/msg/Int16.html))
+
+### Position Heading Node ([position_heading_publisher_node.py](/../paf/code/perception/src/position_heading_publisher_node.py))
+
+Calculates the current_pos (Location of the car) and current_heading (Orientation of the car around the Z- axis).
+
+Subscriptions:
+
+- ```/carla/hero/OpenDRIVE``` \(/carla_ros_bridge\) ([sensor_msgs/String](https://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html))
+- ```/carla/hero/IMU``` \(/carla_ros_bridge\) ([sensor_msgs/Imu](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Imu.html))
+- ```/carla/hero/GPS``` \(/carla_ros_bridge\) ([sensor_msgs/NavSatFix](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/NavSatFix.html))
+- ```/paf/hero/kalman_pos``` \(/kalman_filter_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/paf/hero/kalman_heading``` \(/kalman_filter_node\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+Publishes:
+
+- ```/paf/hero/unfiltered_heading``` \(no subscriber at the moment\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/unfiltered_pos``` \(/kalman_filter_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/paf/hero/current_pos``` \(/pure_pursuit_controller, /stanley_controller, /MotionPlanning, /ACC, /MainFramePublisher, /GlobalPlanDistance, /position_heading_publisher_node, /curr_behavior \) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/paf/hero/current_heading``` \(/stanley_controller, /behavior_agent\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+### Global distances ([global_plan_distance_publisher.py](/../paf/code/perception/src/global_plan_distance_publisher.py))
+
+Subscriptions:
+
+- ```/paf/hero/current_pos``` \(/position_heading_publisher_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/carla/hero/global_plan``` \(/ \) ([ros_carla_msgs/msg/CarlaRoute](https://github.com/carla-simulator/ros-carla-msgs/blob/leaderboard-2.0/msg/CarlaRoute.msg))
+
+Publishes:
+
+- ```/paf/hero/waypoint_distance``` \(/MotionPlanning, /behavior_agent\) ([geographic_msgs/WayPoint](https://docs.ros.org/en/melodic/api/geographic_msgs/html/msg/WayPoint.html))
+- ```/paf/hero/lane_change_distance``` \(/MotionPlanning, /behavior_agent\) ([perception/msg/LaneChange](/../paf/code/perception/msg/LaneChange.msg))
+
+### Kalman filtering ([kalman_filter.py](/../paf/code/perception/src/kalman_filter.py))
+
+Subscriptions:
+
+- ```/carla/hero/OpenDRIVE``` \(/carla_ros_bridge\) ([sensor_msgs/String](https://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html))
+- ```/carla/hero/IMU``` \(/carla_ros_bridge\) ([sensor_msgs/Imu](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Imu.html))
+- ```/carla/hero/GPS``` \(/carla_ros_bridge\) ([sensor_msgs/NavSatFix](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/NavSatFix.html))
+- ```/paf/hero/unfiltered_pos``` \(/position_heading_publisher_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/carla/hero/Speed``` \(/carla_ros_bridge\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+
+Publishes:
+
+- ```/paf/hero/kalman_pos``` \(/position_heading_publisher_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/paf/hero/kalman_heading``` \(/position_heading_publisher_node\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+### Localization
+
+Provides corrected accurate position, direction and speed of the ego vehicle. For this to be achived the
+
+- [Position Heading Node](#position-heading-node-position_heading_publisher_nodepy)
+- [Kalman filtering](#kalman-filtering) and
+- [Coordinate Transformation](/../paf/code/perception/src/coordinate_transformation.py)
+
+classes are used.
+
+## Planning
+
+The planning uses the data from the [Perception](#Perception) to find a path on which the ego vehicle can safely reach its destination. It also detects situations and reacts accordingly in traffic. It publishes signals such as a trajecotry or a target speed to acting.
+
+Further information regarding the planning can be found [here](../planning/README.md).
+Research for the planning can be found [here](../research/planning/README.md).
+
+### PrePlaner ([global_planner.py](/../paf/code/planning/src/global_planner/global_planner.py))
+
+Uses information from the map and the path specified by CARLA to find a first concrete path to the next intermediate point. More about it can be found [here](../planning/Global_Planner.md).
+
+Subscriptions:
+
+- ```/carla/hero/OpenDRIVE``` \(/carla_ros_bridge\) ([sensor_msgs/String](https://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html))
+- ```/carla/hero/global_plan``` \(/ \) ([ros_carla_msgs/msg/CarlaRoute](https://github.com/carla-simulator/ros-carla-msgs/blob/leaderboard-2.0/msg/CarlaRoute.msg))
+- ```/paf/hero/current_pos``` \(/position_heading_publisher_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+
+Publishes:
+
+- ```/paf/hero/trajectory_global``` \(/ACC, /MotionPlanning\) ([nav_msgs/Path](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Path.html))
+- ```/paf/hero/speed_limits_OpenDrive``` \(/ACC\) ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+
+### Behavior Agent ([behavior_agent](/../paf/code/planning/src/behavior_agent/))
+
+Decides which speed is the right one to pass through a certain situation and
+also checks if an overtake is necessary.
+Everything is based on the data from the Perception [Perception](#Perception). More about the behavior tree can be found [here](../planning/Behavior_tree.md)
+
+Subscriptions:
+
+[topics2blackboard.py](/../paf/code/planning/src/behavior_agent/behaviours/topics2blackboard.py)
+
+- ```/carla/hero/Speed``` \(/carla_ros_bridge\) ([ros_carla_msgs/msg/CarlaSpeedometer](https://github.com/carla-simulator/ros-carla-msgs/blob/leaderboard-2.0/msg/CarlaSpeedometer.msg))
+- ```/paf/hero/slowed_by_car_in_front``` \(/\) ([std_msg/Bool](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html))
+- ```/paf/hero/waypoint_distance``` \(/GlobalPlanDistance\) ([geographic_msgs/WayPoint](https://docs.ros.org/en/melodic/api/geographic_msgs/html/msg/WayPoint.html))
+- ```/paf/hero/stop_sign``` \(/\) ([mock/Stop_sign](/../paf/code/mock/msg/Stop_sign.msg))
+- ```/paf/hero/Center/traffic_light_state``` \(/TrafficLightNode\) ([perception/TrafficLightState](/../paf/code/perception/msg/TrafficLightState.msg))
+- ```/paf/hero/Center/traffic_light_y_distance``` \(/TrafficLightNode\) ([std_msgs/Int16](https://docs.ros.org/en/api/std_msgs/html/msg/Int16.html))
+- ```/paf/hero/max_velocity``` \(/behavior_agent\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/speed_limit``` \(/ACC\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/lane_change_distance``` \(/GlobalPlanDistance\) ([perception/msg/LaneChange](/../paf/code/perception/msg/LaneChange.msg))
+- ```/paf/hero/collision``` \(/CollisionCheck\) ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+- ```/paf/hero/current_pos``` \(/position_heading_publisher_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/paf/hero/current_heading``` \(/position_heading_publisher_node\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/overtake_success``` \(/MotionPlanning\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/oncoming``` \(/CollisionCheck\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/target_velocity``` \(/MotionPlanning\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+Publishes:
+
+[maneuvers.py](/../paf/code/planning/src/behavior_agent/behaviours/maneuvers.py)
+
+- ```/paf/hero/curr_behavior``` \(/MotionPlanning, /vehicle_controller\) ([std_msgs/String](https://docs.ros.org/en/api/std_msgs/html/msg/String.html))
+- ```/paf/hero/unstuck_distance``` \(/ACC, /MotionPlanning\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/unstuck_flag``` \(/ACC\) ([std_msg/Bool](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html))
+
+[intersection.py](/../paf/code/planning/src/behavior_agent/behaviours/intersection.py)
+
+- ```/paf/hero/curr_behavior``` \(/MotionPlanning, /vehicle_controller\) ([std_msgs/String](https://docs.ros.org/en/api/std_msgs/html/msg/String.html))
+  
+[lane_change.py](/../paf/code/planning/src/behavior_agent/behaviours/lane_change.py)
+
+- ```/paf/hero/curr_behavior``` \(/MotionPlanning, /vehicle_controller\) ([std_msgs/String](https://docs.ros.org/en/api/std_msgs/html/msg/String.html))
+
+[meta.py](/../paf/code/planning/src/behavior_agent/behaviours/meta.py)
+
+- ```/paf/hero/max_velocity``` \(/behavior_agent\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+[overtake.py](/../paf/code/planning/src/behavior_agent/behaviours/overtake.py)
+
+- ```/paf/hero/curr_behavior``` \(/MotionPlanning, /vehicle_controller\) ([std_msgs/String](https://docs.ros.org/en/api/std_msgs/html/msg/String.html))
+
+### [Local Planning](../planning/Local_Planning.md)
+
+It consists of three components:
+
+- [Collision Check](../planning//Collision_Check.md): Checks for collisions based on objects recieved from [Perception](#perception)
+- [ACC](../planning/ACC.md): Generates a new speed based on a possible collision recieved from Collision Check and speedlimits recieved from [Global Planner](#global-planning)
+- [Motion Planning](../planning/motion_planning.md): Decides the target speed and modifies trajectory if signal recieved from [Behavior Agent](#behavior-agent-behavior_agent)
+
+Subscriptions:
+
+[ACC.py](/../paf/code/planning/src/local_planner/ACC.py)
+
+- ```/paf/hero/unstuck_flag``` \(/behavior_agent\) ([std_msg/Bool](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html))
+- ```/paf/hero/unstuck_distance``` \(/behavior_agent\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/carla/hero/Speed``` \(/carla_ros_bridge\) ([ros_carla_msgs/msg/CarlaSpeedometer](https://github.com/carla-simulator/ros-carla-msgs/blob/leaderboard-2.0/msg/CarlaSpeedometer.msg))
+- ```/paf/hero/speed_limits_OpenDrive``` \(/PrePlanner\) ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+- ```/paf/hero/trajectory_global``` \(/PrePlanner\) ([nav_msgs/Path](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Path.html))
+- ```/paf/hero/current_pos``` \(/position_heading_publisher_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/paf/hero/collision``` \(/CollisionCheck\) ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+
+[collision_check.py](/../paf/code/planning/src/local_planner/collision_check.py)
+
+- ```/carla/hero/Speed``` \(/carla_ros_bridge\) ([ros_carla_msgs/msg/CarlaSpeedometer](https://github.com/carla-simulator/ros-carla-msgs/blob/leaderboard-2.0/msg/CarlaSpeedometer.msg))
+- ```/paf/hero/Center/object_distance``` \(/CollisionCheck\) ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+
+[motion_planning.py](/../paf/code/planning/src/local_planner/motion_planning.py)
+
+- ```/paf/hero/spawn_car``` \(/\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/speed_limit``` \(/ACC\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/carla/hero/Speed``` \(/carla_ros_bridge\) ([ros_carla_msgs/msg/CarlaSpeedometer](https://github.com/carla-simulator/ros-carla-msgs/blob/leaderboard-2.0/msg/CarlaSpeedometer.msg))
+- ```/paf/hero/current_heading``` \(/position_heading_publisher_node\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/trajectory_global``` \(/PrePlanner\) ([nav_msgs/Path](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Path.html))
+- ```/paf/hero/current_pos``` \(/position_heading_publisher_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/paf/hero/curr_behavior``` \(/behavior_agent\) ([std_msgs/String](https://docs.ros.org/en/api/std_msgs/html/msg/String.html))
+- ```/paf/hero/unchecked_emergency``` \(/\) ([std_msg/Bool](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html))
+- ```/paf/hero/acc_velocity``` \(/ACC\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/waypoint_distance``` \(/GlobalPlanDistance\) ([geographic_msgs/WayPoint](https://docs.ros.org/en/melodic/api/geographic_msgs/html/msg/WayPoint.html))
+- ```/paf/hero/lane_change_distance``` \(/GlobalPlanDistance\) ([perception/msg/LaneChange](/../paf/code/perception/msg/LaneChange.msg))
+- ```/paf/hero/collision``` \(/CollisionCheck\) ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+- ```/paf/hero/Center/traffic_light_y_distance``` \(/TrafficLightNode\) ([std_msgs/Int16](https://docs.ros.org/en/api/std_msgs/html/msg/Int16.html))
+- ```/paf/hero/unstuck_distance``` \(/behavior_agent\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/current_wp``` \(/ACC\) ([std_msgs/Float32](https://docs.ros.org/en/api/std_msgs/html/msg/Float32.html))
+
+Publishes:
+
+[ACC.py](/../paf/code/planning/src/local_planner/ACC.py)
+
+- ```/paf/hero/acc_velocity``` \(/MotionPlanning\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/current_wp``` ([std_msgs/Float32](https://docs.ros.org/en/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/speed_limit``` \(/behavior_agent\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+[collision_check.py](/../paf/code/planning/src/local_planner/collision_check.py)
+
+- ```/paf/hero/emergency``` \(/vehicle_controller\) ([std_msg/Bool](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html))
+- ```/paf/hero/collision``` \(/ACC, /MotionPlanning\) ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+- ```/paf/hero/oncoming``` \(/behavior_agent\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+[motion_planning.py](/../paf/code/planning/src/local_planner/motion_planning.py)
+
+- ```/paf/hero/trajectory``` \(/pure_pursuit_controller\) ([nav_msgs/Path](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Path.html))
+- ```/paf/hero/target_velocity``` \(/behavior_agent\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/overtake_success``` \(/behavior_agent\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+## Acting
+
+The job of this component is to take the planned trajectory and target-velocities from the [Planning](#Planning) component and convert them into steering and throttle/brake controls for the CARLA-vehicle.
+
+All information regarding research done about acting can be found [here](../research/acting/README.md).
+
+Indepth information about the currently implemented acting Components can be found [here](../acting/README.md)!
+
+### [MainFramePublisher](/../paf/code/acting/src/acting/MainFramePublisher.py)
+
+Subscription:
+
+- ```/paf/hero/current_pos``` \(/position_heading_publisher_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/paf/hero/current_heading``` \(/position_heading_publisher_node\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+### [pure_pursuit_controller](/../paf/code/acting/src/acting/pure_pursuit_controller.py)
+
+Calculates steering angles that keep the ego vehicle on the path given by
+the [Local path planning](#Local-path-planning).
+
+Subscription:
+
+- ```/paf/hero/current_pos``` \(/position_heading_publisher_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/carla/hero/Speed``` \(/carla_ros_bridge\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/paf/hero/current_heading``` \(/position_heading_publisher_node\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+Publishes:
+
+- ```/paf/hero/pure_pursuit_steer``` \(/vehicle_controller\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/pure_p_debug``` \(/\) ([acting/msg/Debug](/../paf/code/acting/msg/Debug.msg))
+  
+### [stanley_controller](/../paf/code/acting/src/acting/stanley_controller.py)
+
+Calculates steering angles that keep the ego vehicle on the path given by
+the [Local path planning](#Local-path-planning).
+
+Subscription:
+
+- ```/paf/hero/trajectory_global``` \(/PrePlanner\) ([nav_msgs/Path](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Path.html))
+- ```/paf/hero/current_pos``` \(/position_heading_publisher_node\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/carla/hero/Speed``` \(/carla_ros_bridge\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/paf/hero/current_heading``` \(/position_heading_publisher_node\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+Publishes:
+
+- ```/paf/hero/stanley_steer``` \(/vehicle_controller\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/stanley_debug``` \(/\) ([acting/msg/StanleyDebug](/../paf/code/acting/msg/StanleyDebug.msg))
+
+### [vehicle_controller](/../paf/code/acting/src/acting/vehicle_controller.py)
+
+Subscription:
+
+- ```/paf/hero/curr_behavior``` \(/behavior_agent\) ([std_msgs/String](https://docs.ros.org/en/api/std_msgs/html/msg/String.html))
+- ```/paf/hero/emergency``` \(/vehicle_controller\) ([std_msg/Bool](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html))
+- ```/carla/hero/Speed``` \(/carla_ros_bridge\) ([geometry_msgs/PoseStamped](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html))
+- ```/paf/hero/throttle``` \(/velocity_controller\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/brake``` \(/velocity_controller\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/reverse``` \(/velocity_controller\) ([std_msg/Bool](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html))
+- ```/paf/hero/pure_pursuit_steer``` \(/pure_pursuit_controller\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/stanley_steer``` \(/pure_pursuit_controller\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+
+Publishes:
+
+- ```/carla/hero/vehicle_control_cmd``` \(/\) ([ros_carla_msgs/msg/CarlaEgoVehicleControl](https://github.com/carla-simulator/ros-carla-msgs/blob/master/msg/CarlaEgoVehicleControl.msg))
+- ```/carla/hero/status``` \(/\) ([std_msg/Bool](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html))
+- ```/paf/hero/controller``` \(/\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/emergency``` \(/vehicle_controller\) ([std_msg/Bool](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html))
+
+### [velocity_controller](/../paf/code/acting/src/acting/velocity_controller.py)
+
+Calculates acceleration values to drive the target-velocity given by the [Local path planning](#Local-path-planning).
+
+For further indepth information about the currently implemented Vehicle Controller click [here](../acting/vehicle_controller.md)
+
+Subscription:
+
+- ```/paf/hero/target_velocity``` \(/MotionPlanning\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/carla/hero/Speed``` \(/carla_ros_bridge\) ([ros_carla_msgs/msg/CarlaSpeedometer](https://github.com/carla-simulator/ros-carla-msgs/blob/leaderboard-2.0/msg/CarlaSpeedometer.msg))
+
+Publishes:
+
+- ```/paf/hero/throttle``` \(/vehicle_controller\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/brake``` \(/vehicle_controller\) ([std_msgs/Float32](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html))
+- ```/paf/hero/reverse``` \(/vehicle_controller\) ([std_msg/Bool](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html))
diff --git a/doc/general/architecture.md b/doc/general/architecture_planned.md
similarity index 86%
rename from doc/general/architecture.md
rename to doc/general/architecture_planned.md
index f8eaf839..1d6fd803 100644
--- a/doc/general/architecture.md
+++ b/doc/general/architecture_planned.md
@@ -3,24 +3,25 @@
 **Summary:** This page gives an overview over the planned general architecture of the vehicle agent.
 The document contains an overview over all [nodes](#overview) and [topics](#topics).
 
-- [Planned architecture of vehicle agent](#planned-architecture-of-vehicle-agent)
-  - [Overview](#overview)
-  - [Perception](#perception)
-    - [Obstacle Detection and Classification](#obstacle-detection-and-classification)
-    - [Traffic Light Detection](#traffic-light-detection)
-    - [Localization](#localization)
-  - [Planning](#planning)
-    - [Global Planning](#global-planning)
-    - [Decision Making](#decision-making)
-    - [Local Planning](#local-planning)
-      - [Collision Check](#collision-check)
-      - [ACC](#acc)
-      - [Motion Planning](#motion-planning)
-  - [Acting](#acting)
-    - [Path following with Steering Controllers](#path-following-with-steering-controllers)
-    - [Velocity control](#velocity-control)
-    - [Vehicle controller](#vehicle-controller)
-  - [Visualization](#visualization)
+- [Overview](#overview)
+- [Perception](#perception)
+  - [Vision Node](#vision-node)
+  - [Traffic Light Detection](#traffic-light-detection)
+  - [Position Heading Node](#position-heading-node)
+  - [Distance to Objects](#distance-to-objects)
+  - [Localization](#localization)
+- [Planning](#planning)
+  - [Global Planning](#global-planning)
+  - [Decision Making](#decision-making)
+  - [Local Planning](#local-planning)
+    - [Collision Check](#collision-check)
+    - [ACC](#acc)
+    - [Motion Planning](#motion-planning)
+- [Acting](#acting)
+  - [Path following with Steering Controllers](#path-following-with-steering-controllers)
+  - [Velocity control](#velocity-control)
+  - [Vehicle controller](#vehicle-controller)
+- [Visualization](#visualization)
 
 ## Overview
 
@@ -28,12 +29,13 @@ The vehicle agent is split into three major components: [Perception](#Perception
 and [Acting](#Acting).
 A separate node is responsible for the [visualization](#Visualization).
 The topics published by the Carla bridge can be
-found [here](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_sensors/).
-The msgs necessary to control the vehicle via the Carla bridge can be
-found [here](https://carla.readthedocs.io/en/0.9.8/ros_msgs/#CarlaEgoVehicleControlmsg)
+found [here](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_sensors/).\
+The messages necessary to control the vehicle via the Carla bridge can be
+found [here](https://carla.readthedocs.io/en/0.9.8/ros_msgs/#CarlaEgoVehicleControlmsg).\
 
-![Architecture overview](../assets/overview.jpg)
 The miro-board can be found [here](https://miro.com/welcomeonboard/a1F0d1dya2FneWNtbVk4cTBDU1NiN3RiZUIxdGhHNzJBdk5aS3N4VmdBM0R5c2Z1VXZIUUN4SkkwNHpuWlk2ZXwzNDU4NzY0NTMwNjYwNzAyODIzfDI=?share_link_id=785020837509).
+![Architecture overview](../assets/overview.jpg "Connections between nodes visualized")
+![Department node overview](../assets/research_assets/node_path_ros.png "In- and outgoing topics for every node of the departments")
 
 ## Perception
 
@@ -43,7 +45,7 @@ environment representation that can be used by the [Planning](#Planning) for fur
 Further information regarding the perception can be found [here](../perception/README.md).
 Research for the perception can be found [here](../research/perception/README.md).
 
-### Obstacle Detection and Classification
+### Vision Node
 
 Evaluates sensor data to detect and classify objects around the ego vehicle.
 Other road users and objects blocking the vehicle's path are recognized.
@@ -52,17 +54,28 @@ In the case of dynamic objects, an attempt is made to recognize the direction an
 
 Subscriptions:
 
-- ```radar``` ([sensor_msgs/PointCloud2](https://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html))
 - ```lidar``` ([sensor_msgs/PointCloud2](https://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html))
 - ```rgb_camera``` ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
 - ````gnss```` ([sensor_msgs/NavSatFix](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_sensors/))
 - ```map``` ([std_msgs/String](https://docs.ros.org/en/api/std_msgs/html/msg/String.html))
+- ```radar``` ([sensor_msgs/PointCloud2](https://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html)) SOON TO COME
 
 Publishes:
 
 - ```obstacles``` (Custom msg:
   obstacle ([vision_msgs/Detection3DArray Message](http://docs.ros.org/en/api/vision_msgs/html/msg/Detection3DArray.html))
   and its classification ([std_msgs/String Message](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/String.html)))
+- ```segmented_image``` ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+  - /paf/hero/Center/segmented_image
+  - /paf/hero/Back/segmented_image
+  - /paf/hero/Left/segmented_image
+  - /paf/hero/Right/segmented_image
+- ```segmented_traffic_light``` ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```object_distance``` ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+  - /paf/hero/Center/object_distance
+  - /paf/hero/Back/object_distance
+  - /paf/hero/Left/object_distance
+  - /paf/hero/Right/object_distance
 
 ### Traffic Light Detection
 
@@ -84,6 +97,14 @@ Publishes:
   position ([geometry_msgs/Pose Message](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Pose.html)),
   distance_to_stop_line ([std_msgs/Float64 Message](http://docs.ros.org/en/api/std_msgs/html/msg/Float64.html)))
 
+### Position Heading Node
+
+There are currently no planned improvements of the Position Heading Node.
+
+### Distance to Objects
+
+There are currently no planned improvements for Distance to Objects.
+
 ### Localization
 
 Provides corrected accurate position, direction and speed of the ego vehicle