diff --git a/LibCarla/source/carla/trafficmanager/CollisionStage.cpp b/LibCarla/source/carla/trafficmanager/CollisionStage.cpp
index a20069ad0..29790a81c 100644
--- a/LibCarla/source/carla/trafficmanager/CollisionStage.cpp
+++ b/LibCarla/source/carla/trafficmanager/CollisionStage.cpp
@@ -202,7 +202,9 @@ namespace CollisionStageConstants {
 
         !(!reference_front_wp->CheckJunction() &&
         cg::Math::Dot(reference_heading, reference_to_other) > 0 &&
-        inter_vehicle_distance > minimum_inter_vehicle_distance)) {
+        inter_vehicle_distance > std::max(minimum_inter_vehicle_distance,
+                                          std::pow(parameters.GetDistanceToLeadingVehicle(reference_vehicle)
+                                                   + inter_vehicle_length, 2.0f)))) {
 
       const Polygon reference_geodesic_polygon = GetPolygon(GetGeodesicBoundary(reference_vehicle, reference_location));
       const Polygon other_geodesic_polygon = GetPolygon(GetGeodesicBoundary(other_vehicle, other_location));
diff --git a/LibCarla/source/carla/trafficmanager/Parameters.cpp b/LibCarla/source/carla/trafficmanager/Parameters.cpp
index 48306fef7..b4e97995d 100644
--- a/LibCarla/source/carla/trafficmanager/Parameters.cpp
+++ b/LibCarla/source/carla/trafficmanager/Parameters.cpp
@@ -158,7 +158,7 @@ float Parameters::GetDistanceToLeadingVehicle(const ActorPtr &actor) {
   } else {
     specific_distance_margin = distance_margin;
   }
-  //std::cout <<"distance_margin :- "<< distance_margin <<" " <<"Value of Specific Distance Margin - " << specific_distance_margin << std::endl;
+
   return specific_distance_margin;
 }