diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7c27db405..0973b8c11 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,7 @@
   * Added check to avoid adding procedural trigger boxes inside intersections.
   * Python agents now accept a carla.Map and GlobalRoutePlanner instances as inputs, avoiding the need to recompute them.
   * Python agents now have a function to lane change.
+  * Python agents now detect vehicle in adjacent lanes if invaded due to the offset.
   * Improved Python agents performance for large maps.
   * Fix a bug at `Map.get_topology()`, causing lanes with no successors to not be part of it.
   * Added new ConstantVelocityAgent