diff --git a/CHANGELOG.md b/CHANGELOG.md
index 138f015a1ff..1f63c17e79d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -20,6 +20,7 @@
  * Added V2X sensors for cooperative awareness message and custom user-defined messages to support vehicle-to-vehicle communication
  * Added named tuples for BasicAgent.py's detection result to allow for type-hints and better semantics.
  * Added type-hint support for the PythonAPI
+ * Fixed invalid comparission in python examples/rss
 
 
 ## CARLA 0.9.15
diff --git a/PythonAPI/examples/rss/rss_sensor.py b/PythonAPI/examples/rss/rss_sensor.py
index 02266071897..e3622bdb317 100644
--- a/PythonAPI/examples/rss/rss_sensor.py
+++ b/PythonAPI/examples/rss/rss_sensor.py
@@ -21,6 +21,7 @@
 import math
 from rss_visualization import RssDebugVisualizer # pylint: disable=relative-import
 
+EVALUATOR_NONE_STATE = ad.rss.state.RssStateEvaluator.names["None"]
 
 # ==============================================================================
 # -- RssSensor -----------------------------------------------------------------
@@ -52,14 +53,14 @@ def __init__(self, rss_state, ego_dynamics_on_route, world_model):
         self.longitudinal_margin = float(rss_state.longitudinalState.rssStateInformation.currentDistance - rss_state.longitudinalState.rssStateInformation.safeDistance)
         self.margin = max(0, self.longitudinal_margin)
         self.lateral_margin = None
-        if rss_state.lateralStateLeft.rssStateInformation.evaluator != "None":
+        if rss_state.lateralStateLeft.rssStateInformation.evaluator != EVALUATOR_NONE_STATE:
             self.lateral_margin = rss_state.lateralStateLeft.rssStateInformation.currentDistance - rss_state.lateralStateLeft.rssStateInformation.safeDistance
-        if rss_state.lateralStateRight.rssStateInformation.evaluator != "None":
+        if rss_state.lateralStateRight.rssStateInformation.evaluator != EVALUATOR_NONE_STATE:
             lateral_margin_right = rss_state.lateralStateRight.rssStateInformation.currentDistance - rss_state.lateralStateRight.rssStateInformation.safeDistance
             if self.lateral_margin==None or self.lateral_margin > lateral_margin_right:
                 self.lateral_margin=lateral_margin_right
         if self.lateral_margin!=None and self.lateral_margin>0:
-            self.margin += self.lateral_margin
+            self.margin += float(self.lateral_margin)
 
     def get_actor(self, world):
         if self.rss_state.objectId == 18446744073709551614:
diff --git a/PythonAPI/examples/rss/rss_visualization.py b/PythonAPI/examples/rss/rss_visualization.py
index 564e1673244..efc362548b1 100644
--- a/PythonAPI/examples/rss/rss_visualization.py
+++ b/PythonAPI/examples/rss/rss_visualization.py
@@ -23,6 +23,8 @@
 import carla
 from carla import ad
 
+RssStateEvaluator = ad.rss.state.RssStateEvaluator
+EVALUATOR_NONE_STATE = RssStateEvaluator.names["None"]
 
 class RssStateVisualizer(object):
 
@@ -77,27 +79,35 @@ def tick(self, individual_rss_states):
             pygame.draw.circle(state_surface, color, (12, v_offset + 7), 5)
             xpos = 184
             if state.actor_calculation_mode == ad.rss.map.RssMode.Structured:
-                if not state.rss_state.longitudinalState.isSafe and ((state.rss_state.longitudinalState.rssStateInformation.evaluator == "LongitudinalDistanceSameDirectionOtherInFront") or (state.rss_state.longitudinalState.rssStateInformation.evaluator == "LongitudinalDistanceSameDirectionEgoFront")):
-                    pygame.draw.polygon(
-                        state_surface, (
-                            255, 255, 255), ((xpos + 1, v_offset + 1 + 4), (xpos + 6, v_offset + 1 + 0), (xpos + 11, v_offset + 1 + 4),
-                                             (xpos + 7, v_offset + 1 + 4), (xpos + 7, v_offset + 1 + 12), (xpos + 5, v_offset + 1 + 12), (xpos + 5, v_offset + 1 + 4)))
-                    xpos += 14
-
-                if not state.rss_state.longitudinalState.isSafe and ((state.rss_state.longitudinalState.rssStateInformation.evaluator == "LongitudinalDistanceOppositeDirectionEgoCorrectLane") or (state.rss_state.longitudinalState.rssStateInformation.evaluator == "LongitudinalDistanceOppositeDirection")):
-                    pygame.draw.polygon(
-                        state_surface, (
-                            255, 255, 255), ((xpos + 2, v_offset + 1 + 8), (xpos + 6, v_offset + 1 + 12), (xpos + 10, v_offset + 1 + 8),
-                                             (xpos + 7, v_offset + 1 + 8), (xpos + 7, v_offset + 1 + 0), (xpos + 5, v_offset + 1 + 0), (xpos + 5, v_offset + 1 + 8)))
-                    xpos += 14
-
-                if not state.rss_state.lateralStateRight.isSafe and not (state.rss_state.lateralStateRight.rssStateInformation.evaluator == "None"):
+                # Unsafe longitudinalState
+                if not state.rss_state.longitudinalState.isSafe:
+                    if (state.rss_state.longitudinalState.rssStateInformation.evaluator == RssStateEvaluator.LongitudinalDistanceSameDirectionOtherInFront
+                        or state.rss_state.longitudinalState.rssStateInformation.evaluator == RssStateEvaluator.LongitudinalDistanceSameDirectionEgoFront
+                    ):
+                        pygame.draw.polygon(
+                            state_surface, (
+                                255, 255, 255), ((xpos + 1, v_offset + 1 + 4), (xpos + 6, v_offset + 1 + 0), (xpos + 11, v_offset + 1 + 4),
+                                                (xpos + 7, v_offset + 1 + 4), (xpos + 7, v_offset + 1 + 12), (xpos + 5, v_offset + 1 + 12), (xpos + 5, v_offset + 1 + 4)))
+                        xpos += 14
+                    elif (state.rss_state.longitudinalState.rssStateInformation.evaluator == RssStateEvaluator.LongitudinalDistanceOppositeDirectionEgoCorrectLane
+                            or state.rss_state.longitudinalState.rssStateInformation.evaluator == RssStateEvaluator.LongitudinalDistanceOppositeDirection
+                    ):
+                        pygame.draw.polygon(
+                            state_surface, (
+                                255, 255, 255), ((xpos + 2, v_offset + 1 + 8), (xpos + 6, v_offset + 1 + 12), (xpos + 10, v_offset + 1 + 8),
+                                                (xpos + 7, v_offset + 1 + 8), (xpos + 7, v_offset + 1 + 0), (xpos + 5, v_offset + 1 + 0), (xpos + 5, v_offset + 1 + 8)))
+                        xpos += 14
+                        
+                # Unsafe Laterals: Draw Left/Right arrows
+                # Right
+                if not state.rss_state.lateralStateRight.isSafe and state.rss_state.lateralStateRight.rssStateInformation.evaluator is not EVALUATOR_NONE_STATE:
                     pygame.draw.polygon(
                         state_surface, (
                             255, 255, 255), ((xpos + 0, v_offset + 1 + 4), (xpos + 8, v_offset + 1 + 4), (xpos + 8, v_offset + 1 + 1),
                                              (xpos + 12, v_offset + 1 + 6), (xpos + 8, v_offset + 1 + 10), (xpos + 8, v_offset + 1 + 8), (xpos + 0, v_offset + 1 + 8)))
                     xpos += 14
-                if not state.rss_state.lateralStateLeft.isSafe and not (state.rss_state.lateralStateLeft.rssStateInformation.evaluator == "None"):
+                # Left
+                if not state.rss_state.lateralStateLeft.isSafe and state.rss_state.lateralStateLeft.rssStateInformation.evaluator is not EVALUATOR_NONE_STATE:
                     pygame.draw.polygon(
                         state_surface, (
                             255, 255, 255), ((xpos + 0, v_offset + 1 + 6), (xpos + 4, v_offset + 1 + 1), (xpos + 4, v_offset + 1 + 4),