diff --git a/assets/behavior_metrics_full_architecture.png b/assets/behavior_metrics_full_architecture.png
deleted file mode 100644
index d69552c0..00000000
Binary files a/assets/behavior_metrics_full_architecture.png and /dev/null differ
diff --git a/behavior_metrics/brains/CARLA/brain_carla_subjective_vision_deep_learning_previous_v.py b/behavior_metrics/brains/CARLA/brain_carla_subjective_vision_deep_learning_previous_v.py
index d9d46ec1..7b967041 100644
--- a/behavior_metrics/brains/CARLA/brain_carla_subjective_vision_deep_learning_previous_v.py
+++ b/behavior_metrics/brains/CARLA/brain_carla_subjective_vision_deep_learning_previous_v.py
@@ -77,7 +77,10 @@ def __init__(self, sensors, actuators, handler, model, config=None):
         self.world.unload_map_layer(carla.MapLayer.Particles)
         
         time.sleep(5)
-        self.vehicle = self.world.get_actors().filter('vehicle.*')[0]
+        self.vehicle = next(
+            (p for p in self.world.get_actors() if 'vehicle' in p.type_id and p.attributes.get('role_name') == 'ego_vehicle'),
+            None
+        )
 
         if model:
             if not path.exists(PRETRAINED_MODELS + model):
@@ -195,7 +198,7 @@ def execute(self):
                 self.motors.sendThrottle(throttle)
                 self.motors.sendSteer(steer)
                 self.motors.sendBrake(break_command)
-                
+            
             if vehicle_speed >= 35:
                 self.motors.sendThrottle(0.0)
                 self.motors.sendBrake(0.0)
diff --git a/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/main_car.json b/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/main_car.json
index d687d1c9..0a9d8fce 100644
--- a/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/main_car.json
+++ b/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/main_car.json
@@ -156,6 +156,22 @@
                     "id": "control"
                 }
             ]
+        },
+        {
+            "type": "vehicle.audi.a2",
+            "id": "npc_vehicle_1",
+            "spawn_point": {"x": 60.0, "y": 2.0, "z": 1.37, "roll": 0.0, "pitch": 0.0, "yaw": 180.0},
+            "sensors":
+            [
+                {
+                    "type": "sensor.pseudo.objects",
+                    "id": "objects"
+                },
+                {
+                    "type": "sensor.pseudo.odom",
+                    "id": "odometry"
+                }
+            ]
         }
     ]
 }
diff --git a/behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_anticlockwise_low.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_anticlockwise_low.launch
index d9823d00..9fb43704 100644
--- a/behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_anticlockwise_low.launch
+++ b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_anticlockwise_low.launch
@@ -19,7 +19,7 @@
   <!--<arg name="spawn_point" default="-7.0, -120.6, 1.37, 0.0, 0.0, -90.0"/>-->
   <!--<arg name="spawn_point" default="-7.0, -270.6, 1.37, 0.0, 0.0, -90.0"/>-->
 
-  <arg name="spawn_point" default="10.0, -307.0, 1.37, 0.0, 0.0, 0.0"/>
+  <!--<arg name="spawn_point" default="10.0, -307.0, 1.37, 0.0, 0.0, 0.0"/>-->
   <!--<arg name="spawn_point" default="100.0, -307.0, 1.37, 0.0, 0.0, 0.0"/>-->
   <!--<arg name="spawn_point" default="150.0, -307.0, 1.37, 0.0, 0.0, 0.0"/>-->
 
@@ -62,13 +62,20 @@
     <arg name='fixed_delta_seconds' value='$(arg fixed_delta_seconds)'/>
   </include>
 
-  <!-- the ego vehicle, that will be controlled by an agent (e.g. carla_ad_agent) -->
-  <include file="$(find carla_spawn_objects)/launch/carla_example_ego_vehicle.launch">
-    <arg name="objects_definition_file" value='$(find carla_spawn_objects)/config/objects.json'/>
-    <arg name='role_name' value='$(arg role_name)'/>
-    <arg name="spawn_point_ego_vehicle" value="$(arg spawn_point)"/>
-    <arg name="spawn_sensors_only" value="false"/>
-  </include>
+  <arg name="objects_definition_file" default='$(env OBJECT_PATH)/main_car.json'/>
+
+  <arg name='ego_vehicle_role_name' default='ego_vehicle'/>
+  <arg name="ego_spawn_point" default="150.3, -307.0, 1.37, 0.0, 0.0, 0.0"/>
+  <arg name='npc_1_role_name' default='npc_vehicle_1'/>
+  <arg name="npc_1_spawn_point" default="194.0, -285.0, 1.37, 0.0, 0.0, 90.0"/> 
+
+  <!-- spawn the objects -->
+  <node pkg="carla_spawn_objects" type="carla_spawn_objects.py" name="$(anon carla_spawn_objects)" output="screen">
+    <param name="spawn_point_$(arg ego_vehicle_role_name)" value="$(arg ego_spawn_point)"/>
+    <param name="objects_definition_file" value="$(arg objects_definition_file)"/>
+    <param name="spawn_point_$(arg npc_1_role_name)" value="$(arg npc_1_spawn_point)" />
+    <param name="spawn_sensors_only" value="false"/>
+  </node>
 
   <include file="$(find carla_manual_control)/launch/carla_manual_control.launch">
     <arg name='role_name' value='$(arg role_name)'/>
diff --git a/behavior_metrics/configs/CARLA/default_carla_subjective_vision.yml b/behavior_metrics/configs/CARLA/default_carla_subjective_vision.yml
index c72ab5d8..1e8eb2a6 100644
--- a/behavior_metrics/configs/CARLA/default_carla_subjective_vision.yml
+++ b/behavior_metrics/configs/CARLA/default_carla_subjective_vision.yml
@@ -49,6 +49,7 @@ Behaviors:
     Simulation:
         World: configs/CARLA/CARLA_launch_files/town_02_anticlockwise_low.launch
         RandomSpawnPoint: False
+        MultiCar: True
     Dataset:
         In: '/tmp/my_bag.bag'
         Out: ''
diff --git a/behavior_metrics/utils/configuration.py b/behavior_metrics/utils/configuration.py
index 02adf75a..156d2376 100644
--- a/behavior_metrics/utils/configuration.py
+++ b/behavior_metrics/utils/configuration.py
@@ -141,6 +141,11 @@ def initialize_configuration(self, config_data):
         else:
             self.spawn_points = []
         
+        if 'MultiCar' in config_data['Behaviors']['Simulation']:
+            self.multicar = config_data['Behaviors']['Simulation']['MultiCar']
+        else:
+            self.multicar = False
+        
         if 'NumberOfVehicle' in config_data['Behaviors']['Simulation']:
             self.number_of_vehicle = config_data['Behaviors']['Simulation']['NumberOfVehicle']
         else:
diff --git a/behavior_metrics/utils/traffic.py b/behavior_metrics/utils/traffic.py
index e910f19f..4bb1680a 100644
--- a/behavior_metrics/utils/traffic.py
+++ b/behavior_metrics/utils/traffic.py
@@ -34,6 +34,11 @@ def __init__(self, n_vehicle, n_walker, percentage_walker_running=0.0, percentag
         self.walker_ids = []
     
     def generate_traffic(self):
+        for p in self.world.get_actors():
+            if 'vehicle' in p.type_id:
+                if p.attributes['role_name'] != 'ego_vehicle':
+                    set_autopilot(p, True, self.traffic_manager.get_port())
+                    
         if self.n_vehicle > 0:
             self.spawn_vehicles(self.world, self.client, self.n_vehicle, self.traffic_manager)
         if self.n_walker > 0:
@@ -105,7 +110,8 @@ def spawn_vehicles(self, world, client, n_vehicles, traffic_manager):
             if blueprint.has_attribute('driver_id'):
                 driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
                 blueprint.set_attribute('driver_id', driver_id)
-            blueprint.set_attribute('role_name', 'autopilot')
+            blueprint.set_attribute('role_name', 'npc_vehicle_1')
+
 
             batch.append(spawn_actor(blueprint, transform)
                 .then(set_autopilot(future_actor, True, traffic_manager.get_port())))