diff --git a/LibCarla/source/carla/geom/Math.cpp b/LibCarla/source/carla/geom/Math.cpp
index 993497bb0..592804a8b 100644
--- a/LibCarla/source/carla/geom/Math.cpp
+++ b/LibCarla/source/carla/geom/Math.cpp
@@ -55,11 +55,12 @@ namespace geom {
     p.y = -p.y;
     start_pos.y = -start_pos.y;
     heading = -heading;
+    curvature = -curvature;
 
     // since this algorithm is working for positive curvatures,
     // and we are only calculating distances, we can invert the y
     // axis (along with the curvature and the heading), so if the
-    // curvature is negative, so the algorithm will work as expected
+    // curvature is negative, the algorithm will work as expected
     if (curvature < 0.0) {
       p.y = -p.y;
       start_pos.y = -start_pos.y;
diff --git a/LibCarla/source/carla/road/Map.cpp b/LibCarla/source/carla/road/Map.cpp
index 1af2bdcbb..b5ba5c71f 100644
--- a/LibCarla/source/carla/road/Map.cpp
+++ b/LibCarla/source/carla/road/Map.cpp
@@ -214,7 +214,7 @@ namespace road {
       lane_tangent = computed_width.second;
     }
 
-    // get a directed pooint in s and apply the computed lateral offet
+    // get a directed point in s and apply the computed lateral offet
     DirectedPoint dp = road->GetDirectedPointIn(waypoint.s);
 
     geom::Rotation rot(
diff --git a/LibCarla/source/carla/road/Road.cpp b/LibCarla/source/carla/road/Road.cpp
index 86691f600..1209245d6 100644
--- a/LibCarla/source/carla/road/Road.cpp
+++ b/LibCarla/source/carla/road/Road.cpp
@@ -177,7 +177,7 @@ namespace road {
     const auto lane_offset = _info.GetInfo<element::RoadInfoLaneOffset>(clamped_s);
     const float offset = lane_offset->GetPolynomial().Evaluate(clamped_s);
 
-    element::DirectedPoint p = geometry->GetGeometry().PosFromDist(clamped_s);
+    element::DirectedPoint p = geometry->GetGeometry().PosFromDist(clamped_s - geometry->GetDistance());
     p.ApplyLateralOffset(offset);
 
     const auto elevation_info = GetElevationOn(s);
diff --git a/LibCarla/source/carla/road/element/Geometry.h b/LibCarla/source/carla/road/element/Geometry.h
index 73996268f..5127afad4 100644
--- a/LibCarla/source/carla/road/element/Geometry.h
+++ b/LibCarla/source/carla/road/element/Geometry.h
@@ -157,11 +157,11 @@ namespace element {
       assert(std::fabs(_curvature) > 1e-15);
       const double radius = 1.0 / _curvature;
       DirectedPoint p(_start_position, _heading);
-      p.location.x -= radius * std::cos(p.tangent + geom::Math::pi_half());
-      p.location.y -= radius * std::sin(p.tangent + geom::Math::pi_half());
-      p.tangent -= dist * _curvature;
       p.location.x += radius * std::cos(p.tangent + geom::Math::pi_half());
       p.location.y += radius * std::sin(p.tangent + geom::Math::pi_half());
+      p.tangent += dist * _curvature;
+      p.location.x -= radius * std::cos(p.tangent + geom::Math::pi_half());
+      p.location.y -= radius * std::sin(p.tangent + geom::Math::pi_half());
       return p;
     }