diff --git a/Car.py b/Car.py
index c88542e..7841bfd 100644
--- a/Car.py
+++ b/Car.py
@@ -91,14 +91,16 @@ class Car():
         carsHere = self.controller.getCarsOnLane(self.route[edgeInd].getID(), laneId)
         while(l<maxDist):
             endPos = laneShape[shapeInd+1]
-            carsHere = filter(lambda c: c.laneInd == shapeInd, carsHere)
-            if(shapeInd == self.laneInd and edgeInd == self.index):
+            #carsHere = filter(lambda c: c.laneInd == shapeInd, carsHere)
+
+            if l == 0:
                 carsHere = filter(lambda c: dist(c.pos,endPos) < dist(self.pos,endPos),carsHere)
             closest = None
+
             try:
                 closest = min(carsHere, key=lambda c: dist(c.pos,laneShape[shapeInd]))
-            except ValueError:
-                if(shapeInd == self.laneInd and edgeInd == self.index):
+            except ValueError as e:
+                if l == 0:
                     l+=dist(self.pos,endPos)
                 else:
                     l+=dist(laneShape[shapeInd],endPos)
@@ -113,12 +115,21 @@ class Car():
                     laneShape = newLane[0]
                     laneId = newLane[2]
             else:
-                return closest
+                if l == 0:
+                    l+=dist(self.pos, closest.pos)
+                else:
+                    l+=dist(laneShape[shapeInd], closest.pos)
+                if l <= maxDist:
+                    self.leaderDist = l
+                    return closest
+                else:
+                    return
         return
 
     def draw(self,painter):
         pt = QPointF(*self.pos)
         painter.drawEllipse(pt,3,3)
+        #painter.drawEllipse(pt,100,100)
    
     def conduite(self,vmax,leader,dt):
         if(leader is None):
@@ -140,7 +151,7 @@ class Car():
         self.signals.addGraphPt.emit((1,self.controller.t,vsec))
 
     def update(self,dt):
-        self.leader=self.getLeader(50)
+        self.leader=self.getLeader(100)
 
         self.conduite(self.vmax,self.leader,dt)
         
@@ -169,4 +180,4 @@ class Car():
     
         self.signals.updateDisp.emit(("Position", self.pos))
         self.signals.updateDisp.emit(("Vitesse", self.v))
-        self.signals.updateDisp.emit(("Leader", self.leader if self.leader is None else self.leader.id))
+        self.signals.updateDisp.emit(("Leader", self.leader if self.leader is None else f"{self.leader.id} @ {self.leaderDist:.2f}m"))
diff --git a/CarController.py b/CarController.py
index 8f71a16..0b121d9 100644
--- a/CarController.py
+++ b/CarController.py
@@ -95,7 +95,7 @@ class CarController:
 
     def getCarsOnLane(self,edgeID,laneID):
         cars = self.getCarsOnEdge(edgeID)
-        return cars #filter(lambda c: c.laneId == laneID,cars)
+        return filter(lambda c: c.laneId == laneID,cars)
 
     def update(self):
         if self.map.net is None:
diff --git a/mainLoop.py b/mainLoop.py
index 6bd5528..5f90a21 100644
--- a/mainLoop.py
+++ b/mainLoop.py
@@ -1,3 +1,5 @@
+import sys
+
 from Map import Map
 from CarController import CarController
 
@@ -32,7 +34,11 @@ class mainLoop(QObject):
         self.fpsTimer.start()
 
     def update(self):
-        self.controller.update()
+        try:
+            self.controller.update()
+        except:
+            (type, value, traceback) = sys.exc_info()
+            print(type, value, traceback)
 
     def openNetwork(self, filename):
         if filename == '':