def METHOD_NAME(self):
    """Execute one step of navigation."""
    if not self.is_constant_velocity_active:
        if self._world.get_snapshot().timestamp.elapsed_seconds - self._constant_velocity_stop_time > self._restart_time:
            self.restart_constant_velocity()
            self.is_constant_velocity_active = True
        elif self._use_basic_behavior:
            return super(ConstantVelocityAgent, self).METHOD_NAME()
        else:
            return carla.VehicleControl()
    hazard_detected = False
    # Retrieve all relevant actors
    actor_list = self._world.get_actors()
    vehicle_list = actor_list.filter("*vehicle*")
    lights_list = actor_list.filter("*traffic_light*")
    vehicle_speed = self._vehicle.get_velocity().length()
    max_vehicle_distance = self._base_vehicle_threshold + vehicle_speed
    affected_by_vehicle, adversary, _ = self._vehicle_obstacle_detected(vehicle_list, max_vehicle_distance)
    if affected_by_vehicle:
        vehicle_velocity = self._vehicle.get_velocity()
        if vehicle_velocity.length() == 0:
            hazard_speed = 0
        else:
            hazard_speed = vehicle_velocity.dot(adversary.get_velocity()) / vehicle_velocity.length()
        hazard_detected = True
    # Check if the vehicle is affected by a red traffic light
    max_tlight_distance = self._base_tlight_threshold + 0.3 * vehicle_speed
    affected_by_tlight, _ = self._affected_by_traffic_light(lights_list, max_tlight_distance)
    if affected_by_tlight:
        hazard_speed = 0
        hazard_detected = True
    # The longitudinal PID is overwritten by the constant velocity but it is
    # still useful to apply it so that the vehicle isn't moving with static wheels
    control = self._local_planner.METHOD_NAME()
    if hazard_detected:
        self._set_constant_velocity(hazard_speed)
    else:
        self._set_constant_velocity(self._target_speed)
    return control