diff --git a/PythonAPI/carla/agents/conf/agent_settings_backend.py b/PythonAPI/carla/agents/conf/agent_settings_backend.py
index f354ce5c50..ff58210956 100644
--- a/PythonAPI/carla/agents/conf/agent_settings_backend.py
+++ b/PythonAPI/carla/agents/conf/agent_settings_backend.py
@@ -406,7 +406,7 @@ class BasicAgentObstacleSettings(AgentConfig):
     Usage: max_tlight_distance  = base_tlight_threshold  + detection_speed_ratio * vehicle_speed
     """
     
-    dynamic_threshold_by_speed : bool = True
+    use_dynamic_speed_threshold : bool = True
     """
     Whether to add a dynamic threshold based on the vehicle speed to the base threshold.
     
diff --git a/PythonAPI/carla/agents/navigation/basic_agent.py b/PythonAPI/carla/agents/navigation/basic_agent.py
index 7be0a25cdd..128aea4067 100644
--- a/PythonAPI/carla/agents/navigation/basic_agent.py
+++ b/PythonAPI/carla/agents/navigation/basic_agent.py
@@ -177,7 +177,7 @@ def run_step(self):
             hazard_detected = True
 
         # Check if the vehicle is affected by a red traffic light
-        if self.config.obstacles.dynamic_threshold_by_speed:
+        if self.config.obstacles.use_dynamic_speed_threshold:
             # Basic agent setting:
             max_tlight_distance = self.config.obstacles.base_tlight_threshold + self.config.obstacles.detection_speed_ratio * self.config.live_info.current_speed
         else:
diff --git a/PythonAPI/carla/agents/navigation/behavior_agent.py b/PythonAPI/carla/agents/navigation/behavior_agent.py
index 52c21b3b10..c7fe580802 100644
--- a/PythonAPI/carla/agents/navigation/behavior_agent.py
+++ b/PythonAPI/carla/agents/navigation/behavior_agent.py
@@ -95,7 +95,7 @@ def traffic_light_manager(self):
         """
         actor_list = self._world.get_actors()
         lights_list = actor_list.filter("*traffic_light*")
-        if self.config.obstacles.dynamic_threshold_by_speed:
+        if self.config.obstacles.use_dynamic_speed_threshold:
             # Basic agent setting:
             max_tlight_distance = self.config.obstacles.base_tlight_threshold + self.config.obstacles.detection_speed_ratio * self.config.live_info.current_speed
         else:
diff --git a/PythonAPI/carla/agents/navigation/constant_velocity_agent.py b/PythonAPI/carla/agents/navigation/constant_velocity_agent.py
index 750dfb892a..52b9c66ebe 100644
--- a/PythonAPI/carla/agents/navigation/constant_velocity_agent.py
+++ b/PythonAPI/carla/agents/navigation/constant_velocity_agent.py
@@ -97,7 +97,7 @@ def run_step(self):
 
 
         # Check if the vehicle is affected by a red traffic light
-        if self.config.obstacles.dynamic_threshold_by_speed:
+        if self.config.obstacles.use_dynamic_speed_threshold:
             # Basic agent setting:
             max_tlight_distance = self.config.obstacles.base_tlight_threshold + self.config.obstacles.detection_speed_ratio * vehicle_speed
         else: