diff --git a/LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp b/LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp
index 2a48bd2f4..6fbc2ed1a 100644
--- a/LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp
+++ b/LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp
@@ -329,10 +329,10 @@ std::pair<bool, float> MotionPlanStage::CollisionHandling(const CollisionHazardD
       }
       // If vehicle is approaching a lead vehicle and the lead vehicle is further
       // than CRITICAL_BRAKING_MARGIN but closer than FOLLOW_LEAD_DISTANCE.
-      else if (available_distance_margin > CRITICAL_BRAKING_MARGIN && other_velocity.Length() < 1.0f) {
+      else if (available_distance_margin > CRITICAL_BRAKING_MARGIN) {
         // Then follow the lead vehicle by acquiring it's speed along current heading.
         dynamic_target_velocity = std::max(other_speed_along_heading, RELATIVE_APPROACH_SPEED);
-      } else if (available_distance_margin < CRITICAL_BRAKING_MARGIN) {
+      } else {
         // If lead vehicle closer than CRITICAL_BRAKING_MARGIN, initiate emergency stop.
         collision_emergency_stop = true;
       }