diff --git a/CHANGELOG.md b/CHANGELOG.md
index 35994951e..4b307d469 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@
  * Added functions to get actor' bones and components names
  * Added functions to get actor' sockets transforms
  * make PythonAPI Windows: Fixed incompatibility issue with Anaconda due `py` command.
+ * Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py) 
 
 ## CARLA 0.9.15
 
diff --git a/PythonAPI/carla/agents/navigation/basic_agent.py b/PythonAPI/carla/agents/navigation/basic_agent.py
index 093749d5a..44e6d0351 100644
--- a/PythonAPI/carla/agents/navigation/basic_agent.py
+++ b/PythonAPI/carla/agents/navigation/basic_agent.py
@@ -345,12 +345,14 @@ class BasicAgent(object):
                 return None
 
             return Polygon(route_bb)
-
+      
         if self._ignore_vehicles:
             return (False, None, -1)
 
-        if not vehicle_list:
+        if vehicle_list is None:
             vehicle_list = self._world.get_actors().filter("*vehicle*")
+        if len(vehicle_list) == 0:
+            return (False, None, -1)
 
         if not max_distance:
             max_distance = self._base_vehicle_threshold