diff --git a/homework/longitudinal_planning.py b/homework/longitudinal_planning.py
index c3f3bf737..e862239fe 100644
--- a/homework/longitudinal_planning.py
+++ b/homework/longitudinal_planning.py
@@ -77,7 +77,7 @@ def update(self, state : AllState):
         #parse the relations indicated
         should_brake = False
         for r in state.relations:
-            if r.type == EntityRelationEnum.YIELD and r.obj1 == '':
+            if r.type == EntityRelationEnum.YIELDING and r.obj1 == '':
                 #yielding to something, brake
                 should_brake = True
         should_accelerate = (not should_brake and curr_v < self.desired_speed)
diff --git a/homework/pedestrian_detection.yaml b/homework/pedestrian_detection.yaml
index 0fffa89fc..fca2625a3 100644
--- a/homework/pedestrian_detection.yaml
+++ b/homework/pedestrian_detection.yaml
@@ -95,3 +95,4 @@ variants:
             drive: 
                 perception:
                     state_estimation : OmniscientStateEstimator
+                    agent_detection : OmniscientAgentDetector