diff --git a/LibCarla/source/carla/nav/Navigation.cpp b/LibCarla/source/carla/nav/Navigation.cpp
index c1b09fbfd..c0f435aaa 100644
--- a/LibCarla/source/carla/nav/Navigation.cpp
+++ b/LibCarla/source/carla/nav/Navigation.cpp
@@ -1141,7 +1141,7 @@ namespace nav {
     agent->paused = pause;
   }
 
-  bool Navigation::HasVehicleNear(ActorId id, float distance) {
+  bool Navigation::HasVehicleNear(ActorId id, float distance, carla::geom::Location direction) {
     // get the internal index (walker or vehicle)
     auto it = _mapped_walkers_id.find(id);
     if (it == _mapped_walkers_id.end()) {
@@ -1151,11 +1151,12 @@ namespace nav {
       }
     }
 
+    float dir[3] = { direction.x, direction.z, direction.y };
     bool result;
     {
       // critical section, force single thread running this
       std::lock_guard<std::mutex> lock(_mutex);
-      result = _crowd->hasVehicleNear(it->second, distance * distance, false);
+      result = _crowd->hasVehicleNear(it->second, distance * distance, dir, false);
     }
     return result;
   }
diff --git a/LibCarla/source/carla/nav/Navigation.h b/LibCarla/source/carla/nav/Navigation.h
index 3d24fe373..cc9d3bca4 100644
--- a/LibCarla/source/carla/nav/Navigation.h
+++ b/LibCarla/source/carla/nav/Navigation.h
@@ -103,9 +103,9 @@ namespace nav {
     /// set an agent as paused for the crowd
     void PauseAgent(ActorId id, bool pause);
     /// return if the agent has a vehicle near (as neighbour)
-    bool HasVehicleNear(ActorId id, float distance);
+    bool HasVehicleNear(ActorId id, float distance, carla::geom::Location direction);
     /// make agent look at some location
-    bool SetWalkerLookAt(ActorId id, carla::geom::Location location);
+    bool SetWalkerLookAt(ActorId id,  carla::geom::Location location);
 
     dtCrowd *GetCrowd() { return _crowd; };
 
diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh
old mode 100644
new mode 100755