zigzag acceleration is being formed

[Ridhwanluthra]

In control function when delta_distance is close to 0, zigzag accel is being formed. it continues to switch between control based on cruise speed and control based on safe distance.
will have to find a more elegant solution than

if delta_distance < 0:
        state['maintaining_distance'] = True
    elif speed >= cruise_speed:
        state['maintaining_distance'] = False```