def METHOD_NAME(waypoint, vehicle_transform):
    """
    Returns the 2D distance from a waypoint to a vehicle
        :param waypoint: actual waypoint
        :param vehicle_transform: transform of the target vehicle
    """
    loc = vehicle_transform.location
    x = waypoint.transform.location.x - loc.x
    y = waypoint.transform.location.y - loc.y
    return math.sqrt(x * x + y * y)