diff --git a/PythonAPI/carla/agents/conf/agent_settings_backend.py b/PythonAPI/carla/agents/conf/agent_settings_backend.py
index e1efc15574..71ed7fdeda 100644
--- a/PythonAPI/carla/agents/conf/agent_settings_backend.py
+++ b/PythonAPI/carla/agents/conf/agent_settings_backend.py
@@ -271,7 +271,7 @@ class BehaviorAgentDistanceSettings(BasicAgentDistanceSettings):
     min_proximity_threshold : float = 10
     """Range in which cars are detected. NOTE: Speed limit overwrites"""
     
-    braking_distance : float = 5
+    emergency_braking_distance : float = 5
     """Emergency Stop Distance Trigger"""
     
 
diff --git a/PythonAPI/carla/agents/conf/behavior_types.py b/PythonAPI/carla/agents/conf/behavior_types.py
index 94f3d211be..7d3faba887 100644
--- a/PythonAPI/carla/agents/conf/behavior_types.py
+++ b/PythonAPI/carla/agents/conf/behavior_types.py
@@ -14,7 +14,7 @@ class Cautious(SimpleBehaviorAgentSettings):
     speed_decrease = 12
     safety_time = 3
     min_proximity_threshold = 12
-    braking_distance = 6
+    emergency_braking_distance = 6
     avoid_tailgators = True
 
 @dataclass
@@ -25,7 +25,7 @@ class Normal(SimpleBehaviorAgentSettings):
     speed_decrease = 10
     safety_time = 3
     min_proximity_threshold = 10
-    braking_distance = 5
+    emergency_braking_distance = 5
     avoid_tailgators = True
 
 @dataclass
@@ -36,5 +36,5 @@ class Aggressive(SimpleBehaviorAgentSettings):
     speed_decrease = 8
     safety_time = 3
     min_proximity_threshold = 8
-    braking_distance = 4
+    emergency_braking_distance = 4
     avoid_tailgators = False
diff --git a/PythonAPI/carla/agents/navigation/behavior_agent.py b/PythonAPI/carla/agents/navigation/behavior_agent.py
index 5153b94259..52c21b3b10 100644
--- a/PythonAPI/carla/agents/navigation/behavior_agent.py
+++ b/PythonAPI/carla/agents/navigation/behavior_agent.py
@@ -284,7 +284,7 @@ def run_step(self, debug=False):
                     self._vehicle.bounding_box.extent.y, self._vehicle.bounding_box.extent.x)
 
             # Emergency brake if the car is very close.
-            if distance < self.config.distance.braking_distance:
+            if distance < self.config.distance.emergency_braking_distance:
                 return self.emergency_stop()
 
         # 2.2: Car following behaviors
@@ -298,7 +298,7 @@ def run_step(self, debug=False):
                     self._vehicle.bounding_box.extent.y, self._vehicle.bounding_box.extent.x)
 
             # Emergency brake if the car is very close.
-            if distance < self.config.distance.braking_distance:
+            if distance < self.config.distance.emergency_braking_distance:
                 return self.emergency_stop()
             else:
                 control = self.car_following_manager(vehicle, distance)