diff --git a/tests/sumo/extended/waypoints/testsuite.sumo b/tests/sumo/extended/waypoints/testsuite.sumo
index 3f5b7827d861..bc96d6378ef4 100644
--- a/tests/sumo/extended/waypoints/testsuite.sumo
+++ b/tests/sumo/extended/waypoints/testsuite.sumo
@@ -39,3 +39,6 @@ triggered_forbidden
 
 # test passing a short waypoint edge at high speed
 fast_short
+
+# Tests whether waypoint speed is safe for subsequent stop
+waypoint_before_stop
diff --git a/tests/sumo/extended/waypoints/waypoint_before_stop/errors.sumo b/tests/sumo/extended/waypoints/waypoint_before_stop/errors.sumo
new file mode 100644
index 000000000000..70f69de33f8d
--- /dev/null
+++ b/tests/sumo/extended/waypoints/waypoint_before_stop/errors.sumo
@@ -0,0 +1 @@
+Warning: Vehicle 'veh0' skips stop on lane 'CE_1' time=4.00.
diff --git a/tests/sumo/extended/waypoints/waypoint_before_stop/fcd.sumo b/tests/sumo/extended/waypoints/waypoint_before_stop/fcd.sumo
new file mode 100644
index 000000000000..15c9ddcce34c
--- /dev/null
+++ b/tests/sumo/extended/waypoints/waypoint_before_stop/fcd.sumo
@@ -0,0 +1,67 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on 2024-07-29 12:56:51 by Eclipse SUMO sumo Version v1_20_0+1449-3254765ed8f
+This data file and the accompanying materials
+are made available under the terms of the Eclipse Public License v2.0
+which accompanies this distribution, and is available at
+http://www.eclipse.org/legal/epl-v20.html
+This file may also be made available under the following Secondary
+Licenses when the conditions for such availability set forth in the Eclipse
+Public License 2.0 are satisfied: GNU General Public License, version 2
+or later which is available at
+https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
+SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
+<sumoConfiguration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/sumoConfiguration.xsd">
+
+    <input>
+        <net-file value="net2.net.xml"/>
+        <route-files value="input_routes.rou.xml"/>
+    </input>
+
+    <output>
+        <write-license value="true"/>
+        <fcd-output value="fcd.xml"/>
+        <vehroute-output value="vehroutes.xml"/>
+        <stop-output value="stopinfos.xml"/>
+    </output>
+
+    <processing>
+        <default.speeddev value="0"/>
+    </processing>
+
+    <report>
+        <xml-validation value="never"/>
+        <duration-log.disable value="true"/>
+        <no-step-log value="true"/>
+    </report>
+
+</sumoConfiguration>
+-->
+
+<fcd-export xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/fcd_file.xsd">
+    <timestep time="0.00">
+        <vehicle id="veh0" x="113.15" y="95.05" angle="90.00" type="DEFAULT_VEHTYPE" speed="25.72" pos="5.10" lane="CE_0" slope="0.00"/>
+    </timestep>
+    <timestep time="1.00">
+        <vehicle id="veh0" x="137.65" y="98.35" angle="90.00" type="DEFAULT_VEHTYPE" speed="24.50" pos="29.60" lane="CE_1" slope="0.00"/>
+    </timestep>
+    <timestep time="2.00">
+        <vehicle id="veh0" x="157.65" y="98.35" angle="90.00" type="DEFAULT_VEHTYPE" speed="20.00" pos="49.60" lane="CE_1" slope="0.00"/>
+    </timestep>
+    <timestep time="3.00">
+        <vehicle id="veh0" x="177.65" y="98.35" angle="90.00" type="DEFAULT_VEHTYPE" speed="20.00" pos="69.60" lane="CE_1" slope="0.00"/>
+    </timestep>
+    <timestep time="4.00">
+        <vehicle id="veh0" x="200.21" y="98.49" angle="88.39" type="DEFAULT_VEHTYPE" speed="22.60" pos="0.25" lane=":E_0_0" slope="0.00"/>
+    </timestep>
+    <timestep time="5.00">
+        <vehicle id="veh0" x="179.37" y="101.65" angle="270.00" type="DEFAULT_VEHTYPE" speed="25.20" pos="20.63" lane="EC_1" slope="0.00"/>
+    </timestep>
+    <timestep time="6.00">
+        <vehicle id="veh0" x="151.59" y="101.65" angle="270.00" type="DEFAULT_VEHTYPE" speed="27.78" pos="48.41" lane="EC_1" slope="0.00"/>
+    </timestep>
+    <timestep time="7.00">
+        <vehicle id="veh0" x="123.81" y="101.65" angle="270.00" type="DEFAULT_VEHTYPE" speed="27.78" pos="76.19" lane="EC_1" slope="0.00"/>
+    </timestep>
+    <timestep time="8.00"/>
+</fcd-export>
diff --git a/tests/sumo/extended/waypoints/waypoint_before_stop/input_routes.rou.xml b/tests/sumo/extended/waypoints/waypoint_before_stop/input_routes.rou.xml
new file mode 100644
index 000000000000..4cddd6a3d5fe
--- /dev/null
+++ b/tests/sumo/extended/waypoints/waypoint_before_stop/input_routes.rou.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<routes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/routes_file.xsd">
+  <vType id="DEFAULT_VEHTYPE" sigma="0"/>
+  <vehicle depart="0" id="veh0" departSpeed="max" speedFactor="2">
+      <route edges="CE EC"/>
+      <stop lane="CE_1" startPos="40" endPos="50" speed="20"/>
+      <stop lane="CE_1" startPos="55" endPos="60" duration="5"/>
+  </vehicle>
+</routes>
diff --git a/tests/sumo/extended/waypoints/waypoint_before_stop/options.sumo b/tests/sumo/extended/waypoints/waypoint_before_stop/options.sumo
new file mode 100644
index 000000000000..cbc3aa77c894
--- /dev/null
+++ b/tests/sumo/extended/waypoints/waypoint_before_stop/options.sumo
@@ -0,0 +1,3 @@
+--no-step-log --no-duration-log --net-file=net2.net.xml --routes=input_routes.rou.xml --vehroute-output vehroutes.xml
+--fcd-output fcd.xml
+--stop-output stopinfos.xml
diff --git a/tests/sumo/extended/waypoints/waypoint_before_stop/output.sumo b/tests/sumo/extended/waypoints/waypoint_before_stop/output.sumo
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/tests/sumo/extended/waypoints/waypoint_before_stop/stopinfos.sumo b/tests/sumo/extended/waypoints/waypoint_before_stop/stopinfos.sumo
new file mode 100644
index 000000000000..56de5dbaee11
--- /dev/null
+++ b/tests/sumo/extended/waypoints/waypoint_before_stop/stopinfos.sumo
@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on 2024-07-29 12:56:51 by Eclipse SUMO sumo Version v1_20_0+1449-3254765ed8f
+This data file and the accompanying materials
+are made available under the terms of the Eclipse Public License v2.0
+which accompanies this distribution, and is available at
+http://www.eclipse.org/legal/epl-v20.html
+This file may also be made available under the following Secondary
+Licenses when the conditions for such availability set forth in the Eclipse
+Public License 2.0 are satisfied: GNU General Public License, version 2
+or later which is available at
+https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
+SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
+<sumoConfiguration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/sumoConfiguration.xsd">
+
+    <input>
+        <net-file value="net2.net.xml"/>
+        <route-files value="input_routes.rou.xml"/>
+    </input>
+
+    <output>
+        <write-license value="true"/>
+        <fcd-output value="fcd.xml"/>
+        <vehroute-output value="vehroutes.xml"/>
+        <stop-output value="stopinfos.xml"/>
+    </output>
+
+    <processing>
+        <default.speeddev value="0"/>
+    </processing>
+
+    <report>
+        <xml-validation value="never"/>
+        <duration-log.disable value="true"/>
+        <no-step-log value="true"/>
+    </report>
+
+</sumoConfiguration>
+-->
+
+<stops xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/stopinfo_file.xsd">
+    <stopinfo id="veh0" type="DEFAULT_VEHTYPE" lane="CE_1" pos="69.60" parking="0" started="3.00" ended="4.00" initialPersons="0" loadedPersons="0" unloadedPersons="0" initialContainers="0" loadedContainers="0" unloadedContainers="0"/>
+</stops>
diff --git a/tests/sumo/extended/waypoints/waypoint_before_stop/vehroutes.sumo b/tests/sumo/extended/waypoints/waypoint_before_stop/vehroutes.sumo
new file mode 100644
index 000000000000..696654c91d16
--- /dev/null
+++ b/tests/sumo/extended/waypoints/waypoint_before_stop/vehroutes.sumo
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on 2024-07-29 12:56:51 by Eclipse SUMO sumo Version v1_20_0+1449-3254765ed8f
+This data file and the accompanying materials
+are made available under the terms of the Eclipse Public License v2.0
+which accompanies this distribution, and is available at
+http://www.eclipse.org/legal/epl-v20.html
+This file may also be made available under the following Secondary
+Licenses when the conditions for such availability set forth in the Eclipse
+Public License 2.0 are satisfied: GNU General Public License, version 2
+or later which is available at
+https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
+SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
+<sumoConfiguration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/sumoConfiguration.xsd">
+
+    <input>
+        <net-file value="net2.net.xml"/>
+        <route-files value="input_routes.rou.xml"/>
+    </input>
+
+    <output>
+        <write-license value="true"/>
+        <fcd-output value="fcd.xml"/>
+        <vehroute-output value="vehroutes.xml"/>
+        <stop-output value="stopinfos.xml"/>
+    </output>
+
+    <processing>
+        <default.speeddev value="0"/>
+    </processing>
+
+    <report>
+        <xml-validation value="never"/>
+        <duration-log.disable value="true"/>
+        <no-step-log value="true"/>
+    </report>
+
+</sumoConfiguration>
+-->
+
+<routes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/routes_file.xsd">
+    <vehicle id="veh0" depart="0.00" departSpeed="25.7248" speedFactor="2.0000" arrival="8.00">
+        <route edges="CE EC"/>
+        <stop lane="CE_1" startPos="40.00" endPos="50.00" speed="20.00"/>
+    </vehicle>
+
+</routes>