diff --git a/LibCarla/source/carla/road/Map.cpp b/LibCarla/source/carla/road/Map.cpp
index c89ea29da..b620caf7c 100644
--- a/LibCarla/source/carla/road/Map.cpp
+++ b/LibCarla/source/carla/road/Map.cpp
@@ -343,6 +343,17 @@ namespace road {
         } else {
           distance_to_signal = waypoint.s - signal->GetDistance();
         }
+        bool is_valid = false;
+        for (auto &validity : signal->GetValidities()) {
+          if (waypoint.lane_id > validity._from_lane &&
+              waypoint.lane_id < validity._to_lane) {
+            is_valid = true;
+            break;
+          }
+        }
+        if(!is_valid){
+          continue;
+        }
         if (distance_to_signal == 0) {
           result.emplace_back(SignalSearchData
               {signal, waypoint,
@@ -368,6 +379,17 @@ namespace road {
       } else {
         distance_to_signal = waypoint.s - signal->GetDistance();
       }
+      bool is_valid = false;
+      for (auto &validity : signal->GetValidities()) {
+        if (waypoint.lane_id > validity._from_lane &&
+            waypoint.lane_id < validity._to_lane) {
+          is_valid = true;
+          break;
+        }
+      }
+      if(!is_valid){
+        continue;
+      }
       if (distance_to_signal == 0) {
         result.emplace_back(SignalSearchData
             {signal, waypoint,