diff --git a/PythonAPI/carla/agents/conf/agent_settings_backend.py b/PythonAPI/carla/agents/conf/agent_settings_backend.py
index 90119eab6f3..e1efc15574f 100644
--- a/PythonAPI/carla/agents/conf/agent_settings_backend.py
+++ b/PythonAPI/carla/agents/conf/agent_settings_backend.py
@@ -254,20 +254,7 @@ class AutopilotSpeedSettings(AgentConfig):
 
 @dataclass
 class BasicAgentDistanceSettings(AgentConfig):
-    """
-    Calculation of the minimum distance for # XXX
-    min_distance = base_min_distance + distance_ratio * vehicle_speed 
-    
-    see local_planner.py `run_step`
-    """
-    
-    base_min_distance : float = 3.0
-    """
-    Base value of the distance to keep
-    """
-    
-    distance_ratio : float = 0.5
-    """Increases minimum distance multiplied by speed"""
+    pass
     
 
 @dataclass
@@ -554,6 +541,16 @@ class BasicAgentPlannerSettings(AgentConfig):
     
     Used with the Waypoint.next(sampling_radius) and distance between waypoints.
     """
+    
+    min_distance_next_waypoint : float = 3.0
+    """
+    Removes waypoints from the queue that are too close to the vehicle.
+    
+    Usage: min_distance = min_distance_next_waypoint + next_waypoint_distance_ratio * vehicle_speed 
+    """
+    
+    next_waypoint_distance_ratio : float = 0.5
+    """Increases the minimum distance to the next waypoint based on the vehicles speed."""
 
 
 @dataclass
diff --git a/PythonAPI/carla/agents/navigation/local_planner.py b/PythonAPI/carla/agents/navigation/local_planner.py
index bd2a4066698..dc1961c4fd4 100644
--- a/PythonAPI/carla/agents/navigation/local_planner.py
+++ b/PythonAPI/carla/agents/navigation/local_planner.py
@@ -197,7 +197,7 @@ def run_step(self, debug=False):
         veh_location = self._vehicle.get_location()
         self.config.live_info.current_speed = get_speed(self._vehicle) # km/h # Could be removed if we assume that it was updated beforehand by the agent.
         vehicle_speed = self.config.live_info.current_speed / 3.6 # km/h -> m/s
-        self._min_distance = self.config.distance.base_min_distance + self.config.distance.distance_ratio * vehicle_speed
+        self._min_distance = self.config.planner.min_distance_next_waypoint + self.config.planner.next_waypoint_distance_ratio * vehicle_speed
 
         num_waypoint_removed = 0
         for waypoint, _ in self._waypoints_queue: