diff --git a/GEMstack/onboard/planning/creep_planning.py b/GEMstack/onboard/planning/creep_planning.py
new file mode 100644
index 00000000..ebd4b3fa
--- /dev/null
+++ b/GEMstack/onboard/planning/creep_planning.py
@@ -0,0 +1,126 @@
+# File: GEMstack/onboard/planning/creep_planning.py
+from typing import List, Tuple
+import math
+from ..component import Component
+from ...state import AllState, VehicleState, EntityRelation, EntityRelationEnum, Path, Trajectory, Route, \
+    ObjectFrameEnum
+from ...utils import serialization
+from ...mathutils import transforms
+import numpy as np
+from .parking_motion_planning import longitudinal_plan as lp_fn, longitudinal_brake as lb_fn
+
+DEBUG = False  # Set to False to disable debug output
+
+
+class CreepTrajectoryPlanner(Component):
+    """Follows the given route. Brakes if the ego–vehicle must yield
+    (e.g. to a pedestrian) or if the end of the route is near; otherwise,
+    it accelerates (or cruises) toward a desired speed.
+    """
+
+    def __init__(self):
+        self.route_index = None
+        self.time_prev = None
+        self.accel_gain = 5
+        self.target_vel = 2.0
+        self.decel_gain = 2.0
+        self.full_brake = 8.0
+        self.stop_dist_threshold = 10  # Distance in meters to start linear deceleration
+
+    def state_inputs(self):
+        return ['all']
+
+    def state_outputs(self) -> List[str]:
+        return ['trajectory']
+
+    def rate(self):
+        return 10.0
+    
+    def is_near_route_end(self, given_route, pos_param):
+        route_len = given_route.length()
+        remaining_dist = route_len - pos_param
+
+        if DEBUG:
+            print(f"[DEBUG] is_near_route_end: Route length = {route_len}, "
+                  f"Current position = {pos_param}, "
+                  f"Distance remaining = {remaining_dist}")
+
+        if remaining_dist <= self.stop_dist_threshold:
+            if remaining_dist > 0.1:
+                req_decel = (self.target_vel ** 2) / (2 * remaining_dist)
+                linear_scale = remaining_dist / self.stop_dist_threshold
+                speed_mod = self.target_vel * linear_scale
+                if DEBUG:
+                    print(f"[DEBUG] Linear decel active: {remaining_dist:.2f}m left, "
+                          f"required deceleration = {req_decel:.2f} m/s², "
+                          f"adjusted speed = {speed_mod:.2f} m/s")
+                return True, speed_mod
+            else:
+                return True, 0.0
+
+        return False, self.target_vel
+
+    def update(self, full_state: AllState):
+        ego = full_state.vehicle  # type: VehicleState
+        nav_path = full_state.route  # type: Route
+        current_time = full_state.t
+
+        if self.time_prev is None:
+            self.time_prev = current_time
+        delta_time = current_time - self.time_prev
+
+        ego_x = ego.pose.x
+        ego_y = ego.pose.y
+        ego_v = ego.v
+
+        if self.route_index is None:
+            self.route_index = 0.0
+
+        _, new_param = nav_path.closest_point_local(
+            [ego_x, ego_y],
+            (self.route_index - 5.0, self.route_index + 5.0)
+        )
+        self.route_index = new_param
+        near_end, speed_setpoint = self.is_near_route_end(nav_path, new_param)
+        trimmed_path = nav_path.trim(new_param, new_param + 10.0)
+
+        duplicate_detected = False
+        unique_pts = set()
+        for j in range(len(trimmed_path.points)):
+            if tuple(trimmed_path.points[j]) in unique_pts:
+                duplicate_detected = True
+                break
+            unique_pts.add(tuple(trimmed_path.points[j]))
+
+        brake_trigger = any(
+            rel.type == EntityRelationEnum.STOPPING_AT and rel.obj1 == ''
+            for rel in full_state.relations
+        )
+        yield_trigger = any(
+            rel.type == EntityRelationEnum.YIELDING and rel.obj1 == ''
+            for rel in full_state.relations
+        ) if not brake_trigger else False
+
+        if near_end:
+            accelerate = (not brake_trigger and not yield_trigger and ego_v < speed_setpoint)
+        else:
+            accelerate = (not brake_trigger and not yield_trigger and ego_v < self.target_vel)
+
+        if duplicate_detected:
+            trajectory = lb_fn(trimmed_path, 0.0, 0.0, 0.0)
+        elif brake_trigger:
+            trajectory = lb_fn(trimmed_path, self.full_brake, ego_v)
+        elif yield_trigger:
+            trajectory = lb_fn(trimmed_path, self.decel_gain, ego_v)
+        elif near_end:
+            trajectory = lp_fn(trimmed_path, self.accel_gain,
+                               self.decel_gain, speed_setpoint, ego_v)
+        elif accelerate:
+            trajectory = lp_fn(trimmed_path, self.accel_gain,
+                               self.decel_gain, self.target_vel, ego_v)
+        else:
+            trajectory = lp_fn(trimmed_path, 0.0, self.decel_gain, self.target_vel, ego_v)
+
+        self.time_prev = current_time
+        return trajectory
+