diff --git a/carla_real_traffic_scenarios/artificial_lane_change/lane_change_scenario.py b/carla_real_traffic_scenarios/artificial_lane_change/lane_change_scenario.py
index 448fc11..2ee38ee 100644
--- a/carla_real_traffic_scenarios/artificial_lane_change/lane_change_scenario.py
+++ b/carla_real_traffic_scenarios/artificial_lane_change/lane_change_scenario.py
@@ -84,7 +84,7 @@ def __init__(self, *, client: carla.Client, cmd_for_changing_lane=ChauffeurComma
         self._env_vehicle_column_ahead_range_m = (5, 30)
 
         route_length_m = max(MAX_MANEUVER_LENGTH_M + BIRD_VIEW_HEIGHT_M,
-                             max_env_vehicles_number * (MAX_VEHICLE_RANDOM_SPACE_M + VEHICLE_SLOT_LENGTH_M)) * 2
+                             max_env_vehicles_number * (MAX_VEHICLE_RANDOM_SPACE_M + VEHICLE_SLOT_LENGTH_M)) * 3
         self._topology = Topology(self._world_map)
         self._routes: List[List[carla.Transform]] = self._obtain_routes(self._target_lane_waypoint, route_length_m)
 
@@ -115,6 +115,7 @@ def _spawn_env_vehicles(self, n: int):
         blueprints = self._world.get_blueprint_library().filter('vehicle.*')
         blueprints = [b for b in blueprints if int(b.get_attribute('number_of_wheels')) == 4]
         spawn_points = self._world_map.get_spawn_points()
+        max_ticks = 4
 
         def _get_env_vehicles():
             return [
@@ -122,6 +123,14 @@ def _get_env_vehicles():
                 if v.attributes.get('role_name') != 'hero' and v.is_alive
             ]
 
+        def _wait_for_env_vehicles(total_number, max_ticks):
+            env_vehicles = _get_env_vehicles()
+            while len(env_vehicles) < total_number and max_ticks > 0:
+                self._world.tick()
+                max_ticks -= 1
+                env_vehicles = _get_env_vehicles()
+            return env_vehicles
+
         env_vehicles = _get_env_vehicles()
         missing_vehicles = n - len(env_vehicles)
         while missing_vehicles:
@@ -131,7 +140,7 @@ def _get_env_vehicles():
                                                   random.sample(spawn_points, k=missing_vehicles))
             ]
             self._client.apply_batch_sync(cmds, do_tick=True)
-            env_vehicles = _get_env_vehicles()
+            env_vehicles = _wait_for_env_vehicles(n, max_ticks)
             missing_vehicles = n - len(env_vehicles)
         return env_vehicles
 
diff --git a/setup.py b/setup.py
index 57399cc..5ff452a 100755
--- a/setup.py
+++ b/setup.py
@@ -10,7 +10,7 @@
 
 setup(
     name='carla_real_traffic_scenarios',
-    version='0.2.0',
+    version='0.2.1',
     long_description=readme,
     author='TODO',
     author_email='TODO',