diff --git a/PythonAPI/carla/agents/tools/misc.py b/PythonAPI/carla/agents/tools/misc.py
index 1e1b4f656..e9f985535 100644
--- a/PythonAPI/carla/agents/tools/misc.py
+++ b/PythonAPI/carla/agents/tools/misc.py
@@ -64,7 +64,7 @@ def is_within_distance_ahead(target_transform, current_transform, max_distance):
 
     fwd = current_transform.get_forward_vector()
     forward_vector = np.array([fwd.x, fwd.y])
-    d_angle = math.degrees(math.acos(np.dot(forward_vector, target_vector) / norm_target))
+    d_angle = math.degrees(math.acos(np.clip(np.dot(forward_vector, target_vector) / norm_target, -1., 1.)))
 
     return d_angle < 90.0
 
@@ -82,7 +82,7 @@ def compute_magnitude_angle(target_location, current_location, orientation):
     norm_target = np.linalg.norm(target_vector)
 
     forward_vector = np.array([math.cos(math.radians(orientation)), math.sin(math.radians(orientation))])
-    d_angle = math.degrees(math.acos(np.dot(forward_vector, target_vector) / norm_target))
+    d_angle = math.degrees(math.acos(np.clip(np.dot(forward_vector, target_vector) / norm_target, -1., 1.)))
 
     return (norm_target, d_angle)