Fix division by zero in is_within_distance_ahead()

CHANGELOG.md

@@ -46,6 +46,7 @@
   * Fixed floating building in Town03
   * Fixed vehicles missing the route if autopilot enabled too late
   * Enhanced stop triggers options
+  * Fixed division by zero in is_within_distance_ahead()
 
 ## CARLA 0.9.4
 

PythonAPI/carla/agents/tools/misc.py

@@ -54,6 +54,11 @@ def is_within_distance_ahead(target_location, current_location, orientation, max
     """
     target_vector = np.array([target_location.x - current_location.x, target_location.y - current_location.y])
     norm_target = np.linalg.norm(target_vector)
+
+    # If the vector is too short, we can simply stop here
+    if norm_target < 0.001:
+        return True
+
     if norm_target > max_distance:
         return False