diff --git a/Docs/python_api.md b/Docs/python_api.md
index 8c3a60481..e7e0642b9 100644
--- a/Docs/python_api.md
+++ b/Docs/python_api.md
@@ -1025,6 +1025,11 @@ Returns the landmarks of a specific type. Landmarks retrieved using this method
     - **Parameters:**
         - `type` (_string_) – The type of the landmarks.  
     - **Return:** _list([carla.Landmark](#carla.Landmark))_  
+- <a name="carla.Map.get_landmark_group"></a>**<font color="#7fb800">get_landmark_group</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**landmark**</font>)  
+Returns the landmarks in the same group as the specified landmark (including itself). Returns an empty list if the landmark does not belong to any group.  
+    - **Parameters:**
+        - `landmark` (_[carla.Landmark](#carla.Landmark)_) – A landmark that belongs to the group.  
+    - **Return:** _list([carla.Landmark](#carla.Landmark))_  
 - <a name="carla.Map.get_spawn_points"></a>**<font color="#7fb800">get_spawn_points</font>**(<font color="#00a6ed">**self**</font>)  
 Returns a list of recommendations made by the creators of the map to be used as spawning points for the vehicles. The list includes [carla.Transform](#carla.Transform) objects with certain location and orientation. Said locations are slightly on-air in order to avoid Z-collisions, so vehicles fall for a bit before starting their way.  
     - **Return:** _list([carla.Transform](#carla.Transform))_  
diff --git a/LibCarla/source/carla/client/Map.cpp b/LibCarla/source/carla/client/Map.cpp
index ca4554878..865016cbd 100644
--- a/LibCarla/source/carla/client/Map.cpp
+++ b/LibCarla/source/carla/client/Map.cpp
@@ -166,5 +166,20 @@ namespace client {
     return result;
   }
 
+  std::vector<SharedPtr<Landmark>>
+      Map::GetLandmarkGroup(const Landmark &landmark) const {
+    std::vector<SharedPtr<Landmark>> result;
+    auto &controllers = landmark._signal->GetSignal()->GetControllers();
+    for (auto& controller_id : controllers) {
+      const auto &controller = _map.GetControllers().at(controller_id);
+      for(auto& signal_id : controller->GetSignals()) {
+        auto& signal = _map.GetSignals().at(signal_id);
+        auto new_landmarks = GetLandmarksFromId(signal->GetSignalId());
+        result.insert(result.end(), new_landmarks.begin(), new_landmarks.end());
+      }
+    }
+    return result;
+  }
+
 } // namespace client
 } // namespace carla
diff --git a/LibCarla/source/carla/client/Map.h b/LibCarla/source/carla/client/Map.h
index 3ef40cf4e..f1c397088 100644
--- a/LibCarla/source/carla/client/Map.h
+++ b/LibCarla/source/carla/client/Map.h
@@ -91,6 +91,9 @@ namespace client {
     /// Returns all the landmarks in the map of a specific type
     std::vector<SharedPtr<Landmark>> GetAllLandmarksOfType(std::string type) const;
 
+    /// Returns all the landmarks in the same group including this one
+    std::vector<SharedPtr<Landmark>> GetLandmarkGroup(const Landmark &landmark) const;
+
   private:
 
     const rpc::MapInfo _description;
diff --git a/PythonAPI/carla/source/libcarla/Map.cpp b/PythonAPI/carla/source/libcarla/Map.cpp
index c39d8ed19..f07073a64 100644
--- a/PythonAPI/carla/source/libcarla/Map.cpp
+++ b/PythonAPI/carla/source/libcarla/Map.cpp
@@ -169,6 +169,7 @@ void export_map() {
     .def("get_all_landmarks", CALL_RETURNING_LIST(cc::Map, GetAllLandmarks))
     .def("get_all_landmarks_from_id", CALL_RETURNING_LIST_1(cc::Map, GetLandmarksFromId, std::string), (args("opendrive_id")))
     .def("get_all_landmarks_of_type", CALL_RETURNING_LIST_1(cc::Map, GetAllLandmarksOfType, std::string), (args("type")))
+    .def("get_landmark_group", CALL_RETURNING_LIST_1(cc::Map, GetLandmarkGroup, cc::Landmark), args("landmark"))
     .def(self_ns::str(self_ns::self))
   ;
 
diff --git a/PythonAPI/docs/map.yml b/PythonAPI/docs/map.yml
index 4751e254b..88cbaad0a 100644
--- a/PythonAPI/docs/map.yml
+++ b/PythonAPI/docs/map.yml
@@ -208,6 +208,16 @@
           The type of the landmarks.
       return: list(carla.Landmark)
     # --------------------------------------
+    - def_name: get_landmark_group
+      doc: >
+        Returns the landmarks in the same group as the specified landmark (including itself). Returns an empty list if the landmark does not belong to any group.
+      params:
+      - param_name: landmark
+        type: carla.Landmark
+        doc: >
+          A landmark that belongs to the group.
+      return: list(carla.Landmark)
+    # --------------------------------------
     - def_name: get_spawn_points
       return: list(carla.Transform)
       doc: >