diff --git a/Docs/python_api.md b/Docs/python_api.md
index 89d9b3b5e..73970bac6 100644
--- a/Docs/python_api.md
+++ b/Docs/python_api.md
@@ -174,6 +174,7 @@
 - `get_spawn_points()`
 - `get_waypoint(location, project_to_road=True)`
 - `get_topology()`
+- `generate_waypoints(distance)`
 - `to_opendrive()`
 - `save_to_disk(path=self.name)`
 
diff --git a/LibCarla/source/carla/client/Map.cpp b/LibCarla/source/carla/client/Map.cpp
index 464a28aa0..534a4a95e 100644
--- a/LibCarla/source/carla/client/Map.cpp
+++ b/LibCarla/source/carla/client/Map.cpp
@@ -69,6 +69,16 @@ namespace client {
     return result;
   }
 
+  std::vector<SharedPtr<Waypoint>> Map::GenerateWaypoints(double distance) const {
+    std::vector<SharedPtr<Waypoint>> result;
+    const auto waypoints = road::WaypointGenerator::GenerateAll(*_map, distance);
+    result.reserve(waypoints.size());
+    for (const auto &waypoint : waypoints) {
+      result.emplace_back(SharedPtr<Waypoint>(new Waypoint{shared_from_this(), waypoint}));
+    }
+    return result;
+  }
+
   std::vector<road::element::LaneMarking> Map::CalculateCrossedLanes(
       const geom::Location &origin,
       const geom::Location &destination) const {
diff --git a/LibCarla/source/carla/client/Map.h b/LibCarla/source/carla/client/Map.h
index 7d691ef53..8546aaeb7 100644
--- a/LibCarla/source/carla/client/Map.h
+++ b/LibCarla/source/carla/client/Map.h
@@ -48,6 +48,8 @@ namespace client {
 
     TopologyList GetTopology() const;
 
+    std::vector<SharedPtr<Waypoint>> GenerateWaypoints(double distance) const;
+
     std::vector<road::element::LaneMarking> CalculateCrossedLanes(
         const geom::Location &origin,
         const geom::Location &destination) const;
diff --git a/PythonAPI/source/libcarla/Map.cpp b/PythonAPI/source/libcarla/Map.cpp
index 0108ef4e8..eda1abc1d 100644
--- a/PythonAPI/source/libcarla/Map.cpp
+++ b/PythonAPI/source/libcarla/Map.cpp
@@ -49,6 +49,16 @@ static auto GetTopology(const carla::client::Map &self) {
   return result;
 }
 
+static auto GenerateWaypoints(const carla::client::Map &self, double distance) {
+  namespace py = boost::python;
+  auto waypoints = self.GenerateWaypoints(distance);
+  py::list result;
+  for (auto &&waypoint : waypoints) {
+    result.append(waypoint);
+  }
+  return result;
+}
+
 void export_map() {
   using namespace boost::python;
   namespace cc = carla::client;
@@ -69,6 +79,7 @@ void export_map() {
     .def("get_spawn_points", CALL_RETURNING_COPY(cc::Map, GetRecommendedSpawnPoints))
     .def("get_waypoint", &cc::Map::GetWaypoint, (arg("location"), arg("project_to_road")=true))
     .def("get_topology", &GetTopology)
+    .def("generate_waypoints", &GenerateWaypoints)
     .def("to_opendrive", CALL_RETURNING_COPY(cc::Map, GetOpenDrive))
     .def("save_to_disk", &SaveOpenDriveToDisk, (arg("path")=""))
     .def(self_ns::str(self_ns::self))