diff --git a/Assets/Scripts/Pathfinding/Hybrid A star/HybridAStar.cs b/Assets/Scripts/Pathfinding/Hybrid A star/HybridAStar.cs
index 0d8c8a2..82ee2e9 100644
--- a/Assets/Scripts/Pathfinding/Hybrid A star/HybridAStar.cs	
+++ b/Assets/Scripts/Pathfinding/Hybrid A star/HybridAStar.cs	
@@ -454,7 +454,7 @@ private static List<Node> GetChildrenToNode(Node currentNode, Map map, Cell[,] c
                     float alpha = steeringAngles[j];
 
                     //Turning angle
-                    float beta = (driveDistance / carData.WheelBase) * Mathf.Tan(alpha);
+                    float beta = (driveDistance / carData.WheelBase) * Mathf.Sin(alpha);
 
                     //Simulate the car driving forward by using a mathematical car model
                     Vector3 newRearWheelPos = VehicleSimulationModels.CalculateNewPosition(heading, beta, driveDistance, currentNode.rearWheelPos);