diff --git a/CHANGELOG.md b/CHANGELOG.md
index 05c6fd5fe..d99c45257 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,7 @@
   * Added `id` property to waypoints, uniquely identifying waypoints up to half centimetre precision
   * Added OpenDrive's road offset `s` as property to waypoints
   * Fixed python client DLL error on Windows
+  * Fixed cleanup of local_planner when used by other modules
 
 ## CARLA 0.9.4
 
diff --git a/PythonAPI/agents/navigation/local_planner.py b/PythonAPI/agents/navigation/local_planner.py
index ff2460f71..bf49650a9 100644
--- a/PythonAPI/agents/navigation/local_planner.py
+++ b/PythonAPI/agents/navigation/local_planner.py
@@ -79,9 +79,15 @@ class LocalPlanner(object):
         self.init_controller(opt_dict)
 
     def __del__(self):
-        self._vehicle.destroy()
+        if self._vehicle:
+            self._vehicle.destroy()
         print("Destroying ego-vehicle!")
 
+
+    def reset_vehicle(self):
+        self._vehicle = None
+        print("Resetting ego-vehicle!")
+
     def init_controller(self, opt_dict):
         """
         Controller initialization.