diff --git a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp
index dc5d2f1a8e1..7f128c916a9 100644
--- a/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp
+++ b/simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp
@@ -48,12 +48,10 @@ class ActionNode : public BT::ActionNodeBase
   auto getDistanceToConflictingEntity(
     const lanelet::Ids & route_lanelets,
     const math::geometry::CatmullRomSplineInterface & spline) const -> std::optional<double>;
-  auto getFrontEntityName(const math::geometry::CatmullRomSplineInterface & spline) const
-    -> std::optional<std::string>;
+  auto getFrontEntityName() const -> std::optional<std::string>;
   auto calculateStopDistance(const traffic_simulator_msgs::msg::DynamicConstraints &) const
     -> double;
-  auto getDistanceToFrontEntity(const math::geometry::CatmullRomSplineInterface & spline) const
-    -> std::optional<double>;
+  auto getDistanceToFrontEntity() const -> std::optional<double>;
   auto getDistanceToStopLine(
     const lanelet::Ids & route_lanelets,
     const std::vector<geometry_msgs::msg::Point> & waypoints) const -> std::optional<double>;
@@ -98,11 +96,6 @@ class ActionNode : public BT::ActionNodeBase
   virtual auto getBlackBoardValues() -> void;
   auto getEntityStatus(const std::string & target_name) const
     -> const traffic_simulator::CanonicalizedEntityStatus &;
-  auto getDistanceToTargetEntityPolygon(
-    const math::geometry::CatmullRomSplineInterface & spline, const std::string target_name,
-    double width_extension_right = 0.0, double width_extension_left = 0.0,
-    double length_extension_front = 0.0, double length_extension_rear = 0.0) const
-    -> std::optional<double>;
 
   auto setCanonicalizedEntityStatus(const traffic_simulator::EntityStatus & entity_status) -> void;
   auto calculateUpdatedEntityStatus(
@@ -124,15 +117,13 @@ class ActionNode : public BT::ActionNodeBase
   EntityStatusDict other_entity_status;
   lanelet::Ids route_lanelets;
 
+  auto getDistanceToTargetEntityPolygon(
+    const traffic_simulator::CanonicalizedEntityStatus & status) const -> std::optional<double>;
+
 private:
   auto getDistanceToTargetEntityOnCrosswalk(
     const math::geometry::CatmullRomSplineInterface & spline,
     const traffic_simulator::CanonicalizedEntityStatus & status) const -> std::optional<double>;
-  auto getDistanceToTargetEntityPolygon(
-    const math::geometry::CatmullRomSplineInterface & spline,
-    const traffic_simulator::CanonicalizedEntityStatus & status, double width_extension_right = 0.0,
-    double width_extension_left = 0.0, double length_extension_front = 0.0,
-    double length_extension_rear = 0.0) const -> std::optional<double>;
   auto getConflictingEntityStatus(const lanelet::Ids & following_lanelets) const
     -> std::optional<traffic_simulator::CanonicalizedEntityStatus>;
   auto getConflictingEntityStatusOnCrossWalk(const lanelet::Ids & route_lanelets) const
diff --git a/simulation/behavior_tree_plugin/src/action_node.cpp b/simulation/behavior_tree_plugin/src/action_node.cpp
index 86db4b18d41..de0a567456d 100644
--- a/simulation/behavior_tree_plugin/src/action_node.cpp
+++ b/simulation/behavior_tree_plugin/src/action_node.cpp
@@ -27,6 +27,7 @@
 #include <string>
 #include <traffic_simulator/behavior/longitudinal_speed_planning.hpp>
 #include <traffic_simulator/helper/helper.hpp>
+#include <traffic_simulator/utils/pose.hpp>
 #include <unordered_map>
 #include <utility>
 #include <vector>
@@ -232,23 +233,21 @@ auto ActionNode::getDistanceToStopLine(
   return hdmap_utils->getDistanceToStopLine(route_lanelets, waypoints);
 }
 
-auto ActionNode::getDistanceToFrontEntity(
-  const math::geometry::CatmullRomSplineInterface & spline) const -> std::optional<double>
+auto ActionNode::getDistanceToFrontEntity() const -> std::optional<double>
 {
-  auto name = getFrontEntityName(spline);
-  if (!name) {
+  if (const auto entity_name_opt = getFrontEntityName()) {
+    return getDistanceToTargetEntityPolygon(getEntityStatus(entity_name_opt.value()));
+  } else {
     return std::nullopt;
   }
-  return getDistanceToTargetEntityPolygon(spline, name.value());
 }
 
-auto ActionNode::getFrontEntityName(const math::geometry::CatmullRomSplineInterface & spline) const
-  -> std::optional<std::string>
+auto ActionNode::getFrontEntityName() const -> std::optional<std::string>
 {
   std::vector<double> distances;
   std::vector<std::string> entities;
   for (const auto & each : other_entity_status) {
-    const auto distance = getDistanceToTargetEntityPolygon(spline, each.first);
+    const auto distance = getDistanceToTargetEntityPolygon(each.second);
     const auto quat = math::geometry::getRotation(
       canonicalized_entity_status->getMapPose().orientation,
       other_entity_status.at(each.first).getMapPose().orientation);
@@ -297,31 +296,50 @@ auto ActionNode::getEntityStatus(const std::string & target_name) const
 }
 
 auto ActionNode::getDistanceToTargetEntityPolygon(
-  const math::geometry::CatmullRomSplineInterface & spline, const std::string target_name,
-  double width_extension_right, double width_extension_left, double length_extension_front,
-  double length_extension_rear) const -> std::optional<double>
-{
-  const auto & status = getEntityStatus(target_name);
-  if (status.laneMatchingSucceed()) {
-    return getDistanceToTargetEntityPolygon(
-      spline, status, width_extension_right, width_extension_left, length_extension_front,
-      length_extension_rear);
-  }
-  return std::nullopt;
-}
-
-auto ActionNode::getDistanceToTargetEntityPolygon(
-  const math::geometry::CatmullRomSplineInterface & spline,
-  const traffic_simulator::CanonicalizedEntityStatus & status, double width_extension_right,
-  double width_extension_left, double length_extension_front, double length_extension_rear) const
-  -> std::optional<double>
+  const traffic_simulator::CanonicalizedEntityStatus & status) const -> std::optional<double>
 {
-  if (status.laneMatchingSucceed() && isOtherEntityAtConsideredAltitude(status)) {
-    const auto polygon = math::geometry::transformPoints(
-      status.getMapPose(), math::geometry::getPointsFromBbox(
-                             status.getBoundingBox(), width_extension_right, width_extension_left,
-                             length_extension_front, length_extension_rear));
-    return spline.getCollisionPointIn2D(polygon, false);
+  if (status.laneMatchingSucceed() && canonicalized_entity_status->laneMatchingSucceed()) {
+    /* 
+     * boundingBoxRelativeLaneletPose requires routing_configuration, 
+     * 'allow_lane_change = true' is needed to check distances to entities on neighbour lanelets
+     */
+    traffic_simulator::RoutingConfiguration routing_configuration;
+    routing_configuration.allow_lane_change = true;
+    constexpr bool include_adjacent_lanelet{false};
+    constexpr bool include_opposite_direction{true};
+
+    const auto & from = canonicalized_entity_status->getCanonicalizedLaneletPose().value();
+    const auto & from_bounding_box = canonicalized_entity_status->getBoundingBox();
+
+    const auto & to = status.getCanonicalizedLaneletPose().value();
+    const auto & to_bounding_box = status.getBoundingBox();
+
+    const auto longitudinalDistance =
+      traffic_simulator::distance::boundingBoxLaneLongitudinalDistance(
+        from, from_bounding_box, to, to_bounding_box, include_adjacent_lanelet,
+        include_opposite_direction, routing_configuration, hdmap_utils);
+
+    if (const auto lateral_distance = lateralDistance(from, to, routing_configuration, hdmap_utils);
+        lateral_distance && longitudinalDistance) {
+      const auto from_bounding_box_distances =
+        math::geometry::getDistancesFromCenterToEdge(from_bounding_box);
+      const auto to_bounding_box_distances =
+        math::geometry::getDistancesFromCenterToEdge(to_bounding_box);
+      auto bounding_box_distance = 0.0;
+      if (lateral_distance.value() > 0.0) {
+        bounding_box_distance =
+          std::abs(from_bounding_box_distances.right) + std::abs(to_bounding_box_distances.left);
+      } else if (lateral_distance.value() < 0.0) {
+        bounding_box_distance =
+          std::abs(from_bounding_box_distances.left) + std::abs(to_bounding_box_distances.right);
+      }
+      // is in front and is within considered width (lateral distance)
+      if (
+        longitudinalDistance.value() >= 0 &&
+        std::abs(lateral_distance.value()) <= bounding_box_distance) {
+        return longitudinalDistance.value() + from_bounding_box.dimensions.x / 2;
+      }
+    }
   }
   return std::nullopt;
 }
@@ -347,9 +365,8 @@ auto ActionNode::getDistanceToConflictingEntity(
     }
   }
   for (const auto & status : lane_entity_status) {
-    const auto s = getDistanceToTargetEntityPolygon(spline, status, 0.0, 0.0, 0.0, 1.0);
-    if (s) {
-      distances.insert(s.value());
+    if (const auto distance_to_entity = getDistanceToTargetEntityPolygon(status)) {
+      distances.insert(distance_to_entity.value());
     }
   }
   if (distances.empty()) {
diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_front_entity_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_front_entity_action.cpp
index 8c30fce024a..3e8be9df85f 100644
--- a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_front_entity_action.cpp
+++ b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_front_entity_action.cpp
@@ -92,12 +92,12 @@ BT::NodeStatus FollowFrontEntityAction::tick()
   }
   auto distance_to_stopline = hdmap_utils->getDistanceToStopLine(route_lanelets, *trajectory);
   auto distance_to_conflicting_entity = getDistanceToConflictingEntity(route_lanelets, *trajectory);
-  const auto front_entity_name = getFrontEntityName(*trajectory);
+  const auto front_entity_name = getFrontEntityName();
   if (!front_entity_name) {
     return BT::NodeStatus::FAILURE;
   }
-  distance_to_front_entity_ =
-    getDistanceToTargetEntityPolygon(*trajectory, front_entity_name.value());
+  const auto & front_entity_status = getEntityStatus(front_entity_name.value());
+  distance_to_front_entity_ = getDistanceToTargetEntityPolygon(front_entity_status);
   if (!distance_to_front_entity_) {
     return BT::NodeStatus::FAILURE;
   }
@@ -111,7 +111,6 @@ BT::NodeStatus FollowFrontEntityAction::tick()
       return BT::NodeStatus::FAILURE;
     }
   }
-  const auto & front_entity_status = getEntityStatus(front_entity_name.value());
   if (!target_speed) {
     target_speed = hdmap_utils->getSpeedLimit(route_lanelets);
   }
diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_lane_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_lane_action.cpp
index 64d50eecb13..66b7104d586 100644
--- a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_lane_action.cpp
+++ b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_lane_action.cpp
@@ -92,7 +92,7 @@ BT::NodeStatus FollowLaneAction::tick()
     if (trajectory == nullptr) {
       return BT::NodeStatus::FAILURE;
     }
-    auto distance_to_front_entity = getDistanceToFrontEntity(*trajectory);
+    const auto distance_to_front_entity = getDistanceToFrontEntity();
     if (distance_to_front_entity) {
       if (
         distance_to_front_entity.value() <=
diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_crossing_entity_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_crossing_entity_action.cpp
index c85e6cdf622..158331e2ed5 100644
--- a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_crossing_entity_action.cpp
+++ b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_crossing_entity_action.cpp
@@ -113,7 +113,7 @@ BT::NodeStatus StopAtCrossingEntityAction::tick()
   }
   distance_to_stop_target_ = getDistanceToConflictingEntity(route_lanelets, *trajectory);
   auto distance_to_stopline = hdmap_utils->getDistanceToStopLine(route_lanelets, *trajectory);
-  const auto distance_to_front_entity = getDistanceToFrontEntity(*trajectory);
+  const auto distance_to_front_entity = getDistanceToFrontEntity();
   if (!distance_to_stop_target_) {
     in_stop_sequence_ = false;
     return BT::NodeStatus::FAILURE;
diff --git a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_stop_line_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_stop_line_action.cpp
index 23011a89e47..5858fa0c7ba 100644
--- a/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_stop_line_action.cpp
+++ b/simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/stop_at_stop_line_action.cpp
@@ -110,7 +110,7 @@ BT::NodeStatus StopAtStopLineAction::tick()
   }
   distance_to_stopline_ = hdmap_utils->getDistanceToStopLine(route_lanelets, *trajectory);
   const auto distance_to_stop_target = getDistanceToConflictingEntity(route_lanelets, *trajectory);
-  const auto distance_to_front_entity = getDistanceToFrontEntity(*trajectory);
+  const auto distance_to_front_entity = getDistanceToFrontEntity();
   if (!distance_to_stopline_) {
     stopped_ = false;
     return BT::NodeStatus::FAILURE;