diff --git a/Co-Simulation/Sumo/run_synchronization.py b/Co-Simulation/Sumo/run_synchronization.py
index 66e9fc9fc..b3a4f8c44 100644
--- a/Co-Simulation/Sumo/run_synchronization.py
+++ b/Co-Simulation/Sumo/run_synchronization.py
@@ -140,8 +140,11 @@ def main(args):
 
                 sumo_transform = BridgeHelper.get_sumo_transform(carla_actor.get_transform(), carla_actor.bounding_box.extent)
                 if args.sync_vehicle_lights:
-                    carla_lights = carla_actor.get_light_state()
-                    sumo_lights = BridgeHelper.get_sumo_lights_state(sumo_actor.signals, carla_lights)
+                    carla_lights = carla.get_actor_light_state(carla_actor_id)
+                    if carla_lights is not None:
+                        sumo_lights = BridgeHelper.get_sumo_lights_state(sumo_actor.signals, carla_lights)
+                    else:
+                        sumo_lights = None
                 else:
                     sumo_lights = None
 
diff --git a/Co-Simulation/Sumo/sumo_integration/carla_simulation.py b/Co-Simulation/Sumo/sumo_integration/carla_simulation.py
index 52744c603..3f1167171 100644
--- a/Co-Simulation/Sumo/sumo_integration/carla_simulation.py
+++ b/Co-Simulation/Sumo/sumo_integration/carla_simulation.py
@@ -51,6 +51,16 @@ class CarlaSimulation(object):
     def get_actor(self, actor_id):
         return self.world.get_actor(actor_id)
 
+    # This is a workaround to fix synchronization issues when other carla
+    # clients remove an actor in carla without waiting for tick (e.g.,
+    # running sumo co-simulation and manual control at the same time)
+    def get_actor_light_state(self, actor_id):
+        try:
+            actor = self.get_actor(actor_id)
+            return actor.get_light_state()
+        except RuntimeError:
+            return None
+
     def spawn_actor(self, blueprint, transform):
         """Spawns a new actor.
         """