diff --git a/CHANGELOG.md b/CHANGELOG.md
index 117bbdbce..6e8fd2cfb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,4 +1,6 @@
 ## Latest
+
+  * Vulkan support: Changed project settings to make vulkan default on linux and updated make script to allow user to select opengl
   * Add ability to set motion blur settings for rgb camera in sensor python blueprint
   * Improved visual quality of the screen capture for the rgb sensor
     - Enabled Temporal AA for screen captures with no post-processing to prevent jaggies during motion
diff --git a/Docs/configuring_the_simulation.md b/Docs/configuring_the_simulation.md
index 84e3caaa1..e4c19ef9f 100644
--- a/Docs/configuring_the_simulation.md
+++ b/Docs/configuring_the_simulation.md
@@ -72,9 +72,16 @@ Running off-screen
 In Linux, you can force the simulator to run off-screen by setting the
 environment variable `DISPLAY` to empty
 
+!!! important
+    **DISPLAY= only works with OpenGL**<br>
+    Vulkan is now the default graphics API used by Unreal Engine and CARLA on
+    Linux. Unreal Engine currently crashes when Vulkan is used when running off-screen.
+    Therefore the -opengl flag must be added to force the engine to use OpenGL instead.
+    We hope that this issue is addressed by Epic in the near future.
+
 ```sh
 # Linux
-DISPLAY= ./CarlaUE4.sh
+DISPLAY= ./CarlaUE4.sh -opengl
 ```
 
 This launches the simulator without simulator window, of course you can still
diff --git a/Jenkinsfile b/Jenkinsfile
index 2ff98fc87..f6850464c 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -65,7 +65,7 @@ pipeline {
 
         stage('Smoke Tests') {
             steps {
-                sh 'DISPLAY= ./Dist/*/LinuxNoEditor/CarlaUE4.sh --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &'
+                sh 'DISPLAY= ./Dist/*/LinuxNoEditor/CarlaUE4.sh -opengl --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &'
                 sh 'make smoke_tests ARGS="--xml"'
                 sh 'make run-examples ARGS="localhost 3654"'
             }
diff --git a/Unreal/CarlaUE4/Config/DefaultEngine.ini b/Unreal/CarlaUE4/Config/DefaultEngine.ini
index d3dbd0d64..28a4dfca9 100644
--- a/Unreal/CarlaUE4/Config/DefaultEngine.ini
+++ b/Unreal/CarlaUE4/Config/DefaultEngine.ini
@@ -40,14 +40,6 @@ RuntimeGeneration=Static
 [/Script/AIModule.CrowdManager]
 MaxAgents=1000
 
-[/Script/LinuxTargetPlatform.LinuxTargetSettings]
-SpatializationPlugin=
-ReverbPlugin=
-OcclusionPlugin=
--TargetedRHIs=SF_VULKAN_SM5
--TargetedRHIs=GLSL_430
-+TargetedRHIs=GLSL_430
-
 [/Script/Engine.PhysicsSettings]
 DefaultGravityZ=-980.000000
 DefaultTerminalVelocity=4000.000000
@@ -55,7 +47,6 @@ DefaultFluidFriction=0.300000
 SimulateScratchMemorySize=262144
 RagdollAggregateThreshold=4
 TriangleMeshTriangleMinAreaThreshold=5.000000
-bEnableAsyncScene=False
 bEnableShapeSharing=False
 bEnablePCM=False
 bEnableStabilization=False
@@ -88,8 +79,17 @@ bSubsteppingAsync=False
 MaxSubstepDeltaTime=0.016667
 MaxSubsteps=6
 SyncSceneSmoothingFactor=0.000000
-AsyncSceneSmoothingFactor=0.990000
 InitialAverageFrameRate=0.016667
 PhysXTreeRebuildRate=10
 DefaultBroadphaseSettings=(bUseMBPOnClient=False,bUseMBPOnServer=False,MBPBounds=(Min=(X=0.000000,Y=0.000000,Z=0.000000),Max=(X=0.000000,Y=0.000000,Z=0.000000),IsValid=0),MBPNumSubdivs=2)
 
+[/Script/LinuxTargetPlatform.LinuxTargetSettings]
+SpatializationPlugin=
+ReverbPlugin=
+OcclusionPlugin=
+-TargetedRHIs=SF_VULKAN_SM5
+-TargetedRHIs=GLSL_430
++TargetedRHIs=SF_VULKAN_SM5
++TargetedRHIs=GLSL_430
+
+
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.cpp
index a131f8943..41a7eb818 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.cpp
@@ -15,7 +15,7 @@
 #if PLATFORM_WINDOWS
 #  define CARLA_WITH_VULKAN_SUPPORT 1
 #else
-#  define CARLA_WITH_VULKAN_SUPPORT 0
+#  define CARLA_WITH_VULKAN_SUPPORT 1
 #endif
 
 // =============================================================================
diff --git a/Util/BuildTools/BuildCarlaUE4.sh b/Util/BuildTools/BuildCarlaUE4.sh
index 02d442299..56a734ca3 100755
--- a/Util/BuildTools/BuildCarlaUE4.sh
+++ b/Util/BuildTools/BuildCarlaUE4.sh
@@ -18,7 +18,7 @@ fi
 
 DOC_STRING="Build and launch CarlaUE4."
 
-USAGE_STRING="Usage: $0 [-h|--help] [--build] [--rebuild] [--launch] [--clean] [--hard-clean]"
+USAGE_STRING="Usage: $0 [-h|--help] [--build] [--rebuild] [--launch] [--clean] [--hard-clean] [--opengl]"
 
 REMOVE_INTERMEDIATE=false
 HARD_CLEAN=false
@@ -26,8 +26,9 @@ BUILD_CARLAUE4=false
 LAUNCH_UE4_EDITOR=false
 
 GDB=
+RHI="-vulkan"
 
-OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean,gdb -n 'parse-options' -- "$@"`
+OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean,gdb,opengl -n 'parse-options' -- "$@"`
 
 if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
 
@@ -55,6 +56,9 @@ while true; do
       REMOVE_INTERMEDIATE=true;
       HARD_CLEAN=true;
       shift ;;
+    --opengl )
+      RHI="-opengl";
+      shift ;;
     -h | --help )
       echo "$DOC_STRING"
       echo "$USAGE_STRING"
@@ -138,7 +142,7 @@ fi
 if ${LAUNCH_UE4_EDITOR} ; then
 
   log "Launching UE4Editor..."
-  ${GDB} ${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject"
+  ${GDB} ${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject" ${RHI}
 
 else