diff --git a/include/g2_spline.h b/include/g2_spline.h
index 7d9a103328fb7c9ec08fcece162369d2adfdd92c..c2faa6c64eb5fc126a8b791f8ec4eb9c0d695a65 100644
--- a/include/g2_spline.h
+++ b/include/g2_spline.h
@@ -63,14 +63,14 @@ class CG2Spline
     void generate(double resolution,unsigned int iterations=10);
     void generate(double resolution,double length,unsigned int iterations=10);
     void generate(double &resolution,double n1,double n2, double n3, double n4);
-    TPoint evaluate(double length);
+    bool evaluate(double length, TPoint& point);
     void evaluate_all(std::vector<double> &x, std::vector<double> &y,std::vector<double> &curvature,std::vector<double> &heading);
     double get_length(void);
     double get_max_curvature(double max_error=0.001,unsigned int max_iter=10);
     double get_max_curvature_der(double max_error=0.001,unsigned int max_iter=10);
     double find_closest_point(double x,double y,TPoint &point,double max_error=0.001,unsigned int max_iter=10);
     double find_closest_point(double x,double y,double max_error=0.001,unsigned int max_iter=10);
-    void get_part(CG2Spline *spline,double start_length, double end_length=-1.0);
+    bool get_part(CG2Spline *spline,double start_length, double end_length=-1.0);
     CG2Spline& operator=(const CG2Spline &obj);
     ~CG2Spline();
 };
diff --git a/src/g2_spline.cpp b/src/g2_spline.cpp
index 292db9bd919e9ccf4a9925c2ad011f6bdaff715c..afd0df2108d209038327aab2a9007eea58138b11 100644
--- a/src/g2_spline.cpp
+++ b/src/g2_spline.cpp
@@ -863,9 +863,12 @@ void CG2Spline::generate(double &resolution,double n1,double n2, double n3, doub
   this->generated=true;
 }
 
-TPoint CG2Spline::evaluate(double length)
+bool CG2Spline::evaluate(double length, TPoint& point)
 {
-  return this->evaluate_parameter(this->find_parameter(length));
+  if (length < 0.0 || length > this->length[this->num_points-1])
+    return false;
+  point = this->evaluate_parameter(this->find_parameter(length));
+  return true;
 }
 
 void CG2Spline::evaluate_all(std::vector<double> &x, std::vector<double> &y,std::vector<double> &curvature,std::vector<double> &heading)
@@ -1014,17 +1017,29 @@ double CG2Spline::find_closest_point(double x, double y,double max_error,unsigne
   }
 }
 
-void CG2Spline::get_part(CG2Spline *spline,double start_length, double end_length)
+bool CG2Spline::get_part(CG2Spline *spline,double start_length, double end_length)
 {
+  TPoint p;
+
   if(start_length==0.0)
     spline->set_start_point(this->start);
   else
-    spline->set_start_point(this->evaluate(start_length));
+  {
+    if (!this->evaluate(start_length, p))
+      return false;
+    spline->set_start_point(p);
+  }
+
   if(end_length==-1.0)
     spline->set_end_point(this->end);
   else
-    spline->set_end_point(this->evaluate(end_length));
+  {
+    if (!this->evaluate(end_length, p))
+      return false;
+    spline->set_end_point(p);
+  }
   spline->generate(this->resolution);
+  return true;
 }
 
 double CG2Spline::curvature(double u)
diff --git a/src/opendrive_link.cpp b/src/opendrive_link.cpp
index 7678a8b56df6be303d89dbf8887fcb6041ed563b..4c5cdcd7b69d096935ac39063a4f83e7402a246f 100644
--- a/src/opendrive_link.cpp
+++ b/src/opendrive_link.cpp
@@ -286,10 +286,12 @@ TOpendriveWorldPose COpendriveLink::get_pose_at(double length)
 
   if(this->spline!=NULL)
   {
-    spline_pose=this->spline->evaluate(length);
-    world_pose.x=spline_pose.x;
-    world_pose.y=spline_pose.y;
-    world_pose.heading=spline_pose.heading;
+    if (this->spline->evaluate(length, spline_pose))
+    {
+      world_pose.x=spline_pose.x;
+      world_pose.y=spline_pose.y;
+      world_pose.heading=spline_pose.heading;
+    }
   }
 
   return world_pose;
@@ -302,8 +304,8 @@ double COpendriveLink::get_curvature_at(double length)
 
   if(this->spline!=NULL)
   {
-    spline_pose=this->spline->evaluate(length);
-    curvature=spline_pose.curvature;
+    if (this->spline->evaluate(length, spline_pose))
+      curvature=spline_pose.curvature;
   }
 
   return curvature;
diff --git a/src/opendrive_road_segment.cpp b/src/opendrive_road_segment.cpp
index bf8f4656d79ba55a110f66bbb7ca6d2bd625b1f9..8bd5108bd0992dd6c75266c8c9a56ee4cc4ade61 100644
--- a/src/opendrive_road_segment.cpp
+++ b/src/opendrive_road_segment.cpp
@@ -1411,10 +1411,12 @@ TOpendriveWorldPose COpendriveRoadSegment::get_pose_at(double length,int road_si
   {
     if((int_length-this->geometries[i].opendrive->get_length())<=this->resolution)
     {
-      spline_pose=this->geometries[i].spline->evaluate(int_length);
-      world_pose.x=spline_pose.x;
-      world_pose.y=spline_pose.y;
-      world_pose.heading=spline_pose.heading;
+      if (this->geometries[i].spline->evaluate(int_length, spline_pose))
+      {
+        world_pose.x=spline_pose.x;
+        world_pose.y=spline_pose.y;
+        world_pose.heading=spline_pose.heading;
+      }
       return world_pose;
     }
     else
@@ -1440,8 +1442,8 @@ double COpendriveRoadSegment::get_curvature_at(double length,int road_side) cons
   {
     if((int_length-this->geometries[i].opendrive->get_length())<=this->resolution)
     {
-      spline_pose=this->geometries[i].spline->evaluate(int_length);
-      curvature=spline_pose.curvature;
+      if (this->geometries[i].spline->evaluate(int_length, spline_pose))
+        curvature=spline_pose.curvature;
       return curvature;
     }
     else