diff --git a/Cargo.lock b/Cargo.lock
index 6f491c3..afa9561 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -274,7 +274,7 @@ checksum = "f52b00d39961fc5b2736ea853c9cc86238e165017a493d1d5c8eac6bdc4cc273"
 
 [[package]]
 name = "micro_traffic_sim_core"
-version = "0.1.9"
+version = "0.1.10"
 dependencies = [
  "criterion",
  "indexmap",
diff --git a/Cargo.toml b/Cargo.toml
index 0b65348..9e6b516 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "micro_traffic_sim_core"
-version = "0.1.9"
+version = "0.1.10"
 edition = "2024"
 description = "Core library for microscopic traffic simulation via cellular automata."
 license = "Apache-2.0"
diff --git a/examples/merge-blocked/README.md b/examples/merge-blocked/README.md
new file mode 100644
index 0000000..7f7faf3
--- /dev/null
+++ b/examples/merge-blocked/README.md
@@ -0,0 +1,27 @@
+# merge-blocked
+
+Demonstrates the "keep rolling along a jammed lane" fallback in
+`find_alternate_intention` and the confusion A*-skip, on the real stage network
+(`network.json` - 676 cells exported from my local toy client application: forward/left/right
+links, WGS84 coordinates, zones, speed limits).
+
+Vehicle 1 drives 666 -> 667 -> 668 (no right neighbor) toward destination 621,
+reachable only via the left merges 666->605, 667->606, 668->619. Past 668 lies
+the point of no return (681 -> 683 death zone). The left lane is jammed with
+parked vehicles.
+
+```bash
+cargo run --example merge-blocked
+```
+
+| Scenario | Parked | Expected outcome |
+|---|---|---|
+| A: gap at the last merge | 605, 606 | rolls along the jam, merges at 619 -> COMPLETED |
+| B: fully jammed | 605, 606, 619 | rolls past the last merge, confusion drives it to the 683 death zone -> LOST, the lane stays free (accepted risk) |
+
+A DEADLOCK verdict (standing next to the jam forever) is a regression: the
+forward fallback in `find_alternate_intention` stopped working.
+
+Once a vehicle is confused, its destination is unreachable from every cell it
+can ever reach (reachability is monotone along directed edges), so per-tick A*
+is skipped for it entirely - a failed full A* is the most expensive kind.
diff --git a/examples/merge-blocked/main.rs b/examples/merge-blocked/main.rs
new file mode 100644
index 0000000..0023a08
--- /dev/null
+++ b/examples/merge-blocked/main.rs
@@ -0,0 +1,152 @@
+//! Demonstration of the "keep rolling along a jammed lane" fallback in
+//! find_alternate_intention, on the real "Pisareva" stage network.
+//!
+//! Setup: vehicle 1 drives in lane 666 -> 667 -> 668 (no right neighbor) with
+//! destination 621, which is reachable ONLY through the left merges
+//! 666->605, 667->606, 668->619 (after 668 comes the point of no return:
+//! 681 -> 683 dead end). The left lane is jammed with parked vehicles.
+//!
+//! Scenario A - gap at the last merge (605, 606 parked, 619 free):
+//! the vehicle rolls along the jam and merges into the gap -> COMPLETED.
+//!
+//! Scenario B - fully jammed (605, 606, 619 parked):
+//! the vehicle rolls past the last merge, per-tick A* returns NoPathFound,
+//! confusion drives it forward into the 683 death zone -> LOST.
+//! The trip fails, but the road stays free - an accepted risk.
+//!
+//! A DEADLOCK verdict (standing next to the jam forever) is a regression:
+//! it means the forward fallback in find_alternate_intention stopped working.
+//!
+//! Run: cargo run --example merge-blocked
+
+use micro_traffic_sim_core::agents::Vehicle;
+use micro_traffic_sim_core::behaviour::BehaviourType;
+use micro_traffic_sim_core::geom::{SRID, new_point};
+use micro_traffic_sim_core::grid::{cell::Cell, road_network::GridRoads, zones::ZoneType};
+use micro_traffic_sim_core::simulation::grids_storage::GridsStorage;
+use micro_traffic_sim_core::simulation::session::Session;
+use micro_traffic_sim_core::verbose::VerboseLevel;
+
+const NETWORK_JSON: &str = include_str!("network.json");
+
+const START_CELL: i64 = 666;
+const DESTINATION: i64 = 621;
+const STEPS: usize = 80;
+const DEADLOCK_THRESHOLD: usize = 15;
+
+fn load_grid() -> GridRoads {
+    let cells: serde_json::Value =
+        serde_json::from_str(NETWORK_JSON).expect("network.json must be valid JSON");
+    let mut grid = GridRoads::new();
+    for c in cells.as_array().expect("array of cells") {
+        let zone = match c["zone"].as_i64().unwrap() {
+            1 => ZoneType::Birth,
+            2 => ZoneType::Death,
+            3 => ZoneType::Coordination,
+            4 => ZoneType::Common,
+            _ => ZoneType::Undefined,
+        };
+        let cell = Cell::new(c["id"].as_i64().unwrap())
+            .with_point(new_point(
+                c["lon"].as_f64().unwrap(),
+                c["lat"].as_f64().unwrap(),
+                Some(SRID::WGS84),
+            ))
+            .with_forward_node(c["fwd"].as_i64().unwrap())
+            .with_left_node(c["left"].as_i64().unwrap())
+            .with_right_node(c["right"].as_i64().unwrap())
+            .with_zone_type(zone)
+            .with_speed_limit(c["sl"].as_i64().unwrap() as i32)
+            .build();
+        grid.add_cell(cell);
+    }
+    grid
+}
+
+fn run_scenario(name: &str, parked_cells: &[i64]) {
+    println!("Scenario {name}: parked at {parked_cells:?}");
+
+    let traveller = Vehicle::new(1)
+        .with_speed(1)
+        .with_speed_limit(4)
+        .with_cell(START_CELL)
+        .with_destination(DESTINATION)
+        .with_slowdown(0.0)
+        .build();
+    let mut vehicles = vec![traveller];
+    for (i, &cell) in parked_cells.iter().enumerate() {
+        vehicles.push(
+            Vehicle::new(100 + i as u64)
+                .with_cell(cell)
+                .with_destination(-1)
+                .with_behaviour(BehaviourType::Block)
+                .build(),
+        );
+    }
+
+    let grids_storage = GridsStorage::new().with_vehicles_net(load_grid()).build();
+    let mut session = Session::new(grids_storage, None);
+    session.set_verbose_level(VerboseLevel::None);
+    session.add_vehicles(vehicles);
+
+    let mut trajectory: Vec<i64> = vec![START_CELL];
+    let mut stuck_ticks = 0usize;
+    let mut completed = 0;
+    let mut lost = 0;
+
+    for _ in 0..STEPS {
+        let state = session.step().expect("simulation step failed");
+        completed = state.vehicles_completed;
+        lost = state.vehicles_lost;
+
+        let traveller = session
+            .get_vehicles()
+            .into_iter()
+            .find(|(_, v)| v.id == 1)
+            .map(|(_, v)| v);
+        match traveller {
+            Some(v) => {
+                if *trajectory.last().unwrap() == v.cell_id {
+                    if v.speed == 0 {
+                        stuck_ticks += 1;
+                    }
+                } else {
+                    trajectory.push(v.cell_id);
+                    stuck_ticks = 0;
+                }
+            }
+            None => break, // removed: either completed or lost
+        }
+        if stuck_ticks >= DEADLOCK_THRESHOLD {
+            break;
+        }
+    }
+
+    println!("trajectory: {trajectory:?}");
+    if completed > 0 {
+        println!("VERDICT: COMPLETED - merged into the gap and reached {DESTINATION}\n");
+    } else if lost > 0 {
+        println!(
+            "VERDICT: LOST - rolled past the last merge, wandered to the death zone; \
+             the lane stays free (accepted risk)\n"
+        );
+    } else if stuck_ticks >= DEADLOCK_THRESHOLD {
+        println!(
+            "VERDICT: DEADLOCK - stood {stuck_ticks} ticks at cell {} waiting for \
+             the jammed lane; REGRESSION - the forward fallback did not kick in\n",
+            trajectory.last().unwrap()
+        );
+    } else {
+        println!("VERDICT: INCONCLUSIVE after {STEPS} steps\n");
+    }
+}
+
+fn main() {
+    let grid = load_grid();
+    println!(
+        "Loaded stage network: {} cells; route to {DESTINATION} exists only via left merges 605/606/619\n",
+        grid.get_cells_num()
+    );
+    run_scenario("A (gap at the last merge)", &[605, 606]);
+    run_scenario("B (fully jammed)", &[605, 606, 619]);
+}
diff --git a/examples/merge-blocked/network.json b/examples/merge-blocked/network.json
new file mode 100644
index 0000000..1c78cd5
--- /dev/null
+++ b/examples/merge-blocked/network.json
@@ -0,0 +1,678 @@
+[
+{"id":1,"fwd":2,"left":-1,"right":-1,"lon":82.91228279471397,"lat":55.045628514938585,"zone":1,"sl":4},
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diff --git a/src/agents/vehicle.rs b/src/agents/vehicle.rs
index 58a9732..ce36775 100644
--- a/src/agents/vehicle.rs
+++ b/src/agents/vehicle.rs
@@ -90,6 +90,8 @@ pub struct Vehicle {
     pub min_safe_distance: i32,
     /// Final cell for the vehicle's trip
     pub destination: CellID,
+    /// Final trip destination (immutable, used for completion check; destination may change for transit cells)
+    pub trip_destination: CellID,
 
     /// A boolean indicating if the vehicle is a confclict participant
     pub is_conflict_participant: bool,
@@ -162,6 +164,7 @@ impl Vehicle {
                 bearing: 0.0,
                 min_safe_distance: 0,
                 destination: -1,
+                trip_destination: -1,
                 is_conflict_participant: false,
                 trip: -1,
                 transits_made: 0,
@@ -672,6 +675,7 @@ impl VehicleBuilder {
     /// ```
     pub fn with_destination(mut self, cell_id: CellID) -> Self {
         self.vehicle.destination = cell_id;
+        self.vehicle.trip_destination = cell_id;
         self
     }
 
diff --git a/src/intentions/intention.rs b/src/intentions/intention.rs
index 156ea13..3dec2e6 100644
--- a/src/intentions/intention.rs
+++ b/src/intentions/intention.rs
@@ -3,7 +3,7 @@ use crate::behaviour::BehaviourType;
 use crate::agents::{
     TailIntentionManeuver, Vehicle, VehicleError, VehicleID, VehicleIntention,
 };
-use crate::grid::cell::CellState;
+use crate::grid::cell::{Cell, CellState};
 use crate::maneuver::LaneChangeType;
 use crate::grid::{cell::CellID, road_network::GridRoads};
 use crate::intentions::{intention_type::IntentionType, Intentions};
@@ -238,6 +238,27 @@ pub fn find_intention<'a>(
         return Ok(result);
     }
 
+    // Шf stopped at red traffic light do early return
+    let forward_cell_id = source_cell.get_forward_id();
+    if forward_cell_id > 0 {
+        if let Some(forward_cell) = net.get_cell(&forward_cell_id) {
+            if forward_cell.get_state() == CellState::Banned {
+                let result = VehicleIntention {
+                    intention_maneuver: LaneChangeType::Block,
+                    intention_speed: 0,
+                    destination: None,
+                    confusion: None,
+                    intention_cell_id: vehicle.cell_id,
+                    tail_intention_cells: vec![],
+                    intermediate_cells: Vec::with_capacity(0),
+                    tail_maneuver: tail_maneuver,
+                    should_stop: false,
+                };
+                return Ok(result);
+            }
+        }
+    }
+
     // Vehicle's speed should not be greater than speed limit
     let mut intention_speed = vehicle.speed.min(speed_limit);
 
@@ -263,14 +284,14 @@ pub fn find_intention<'a>(
     }
 
     // Considering that vehicle always wants to accelerate:
-    let observe_distance = speed_possible + vehicle.min_safe_distance;
+    let _observe_distance = speed_possible + vehicle.min_safe_distance;
 
     // Check if maneuvers are allowed (they could be prohibeted due the vehicle's tail is not done previous maneuver yet)
     let maneuvers_allowed = vehicle.timer_non_maneuvers <= 0
         && tail_maneuver.intention_maneuver != LaneChangeType::ChangeRight
         && tail_maneuver.intention_maneuver != LaneChangeType::ChangeLeft;
 
-    let mut destination: Option<CellID> = None;
+    let destination: Option<CellID> = None;
     let mut confusion: Option<bool> = None;
 
     // println!(
@@ -293,7 +314,8 @@ pub fn find_intention<'a>(
                 source_cell,
                 net,
                 maneuvers_allowed,
-                observe_distance + 1,
+                1000,
+                // observe_distance + 1,  // depth-limited
             ) {
                 Ok(path) => path,
                 Err(e) => {
@@ -304,6 +326,21 @@ pub fn find_intention<'a>(
                 }
             }
         },
+        // Reachability over directed edges is monotone: once the destination is
+        // unreachable from the current cell, it is unreachable from every cell the
+        // vehicle can ever get to. Full A* would just fail again (the most expensive
+        // failure mode - it exhausts the whole reachable component), so skip routing
+        // for confused vehicles entirely. NOTE: this holds only while the grid is
+        // static during a session and the destination is not reassigned.
+        _ if vehicle.confusion => {
+            let new_path = match process_no_route_found(source_cell, net) {
+                Ok(path) => path,
+                Err(e) => return Err(IntentionError::NoPathForNoRoute(e)),
+            };
+            intention_speed = 1;
+            speed_possible = intention_speed;
+            new_path
+        },
         _ => {
             let target_cell = net
                 .get_cell(&vehicle.destination)
@@ -313,7 +350,8 @@ pub fn find_intention<'a>(
                 target_cell,
                 net,
                 maneuvers_allowed,
-                Some(observe_distance + 1),
+                None,
+                // Some(observe_distance + 1),  // depth-limited
             ) {
                 Ok(path) => path,
                 Err(e)
@@ -329,7 +367,7 @@ pub fn find_intention<'a>(
                         Ok(path) => path,
                         Err(e) => return Err(IntentionError::NoPathForNoRoute(e)),
                     };
-                    destination = Some(new_path.vertices()[new_path.vertices().len() - 1].get_id());
+                    // Do NOT overwrite destination - keep original trip destination
                     intention_speed = 1;
                     speed_possible = intention_speed;
                     confusion = Some(true);
@@ -431,6 +469,70 @@ const UNDEFINED_MANEUVER: LaneChangeType = LaneChangeType::ChangeRight;
 
 /// Attempts to find an alternate maneuver (lane change) for a blocked vehicle.
 ///
+/// Helper: Creates a block intention
+fn create_block_intention(cell_id: CellID, should_stop: bool) -> VehicleIntention {
+    VehicleIntention {
+        intention_maneuver: LaneChangeType::Block,
+        intention_speed: 0,
+        destination: None,
+        confusion: None,
+        intention_cell_id: cell_id,
+        tail_intention_cells: vec![],
+        intermediate_cells: Vec::with_capacity(0),
+        tail_maneuver: TailIntentionManeuver::default(),
+        should_stop,
+    }
+}
+
+/// Helper: Checks if alternate path (left or right) is available and calculates cost
+fn check_alternate_direction(
+    cell_id: CellID,
+    source_cell: &Cell,
+    target_cell: &Cell,
+    net: &GridRoads,
+    current_state: &HashMap<CellID, VehicleID>,
+    direction: &str,
+    max_depth: Option<i32>,
+) -> Result<(CellID, f64), IntentionError> {
+    if cell_id <= 0 {
+        return Ok((-1, INFINITY));
+    }
+
+    let cell = net.get_cell(&cell_id).ok_or_else(|| {
+        if direction == "left" {
+            IntentionError::NoLeftCell(source_cell.get_id())
+        } else {
+            IntentionError::NoRightCell(source_cell.get_id())
+        }
+    })?;
+
+    let is_blocked = current_state
+        .get(&cell_id)
+        .map(|&id| id > 0)
+        .unwrap_or(false);
+
+    if is_blocked || cell.get_state() != CellState::Free {
+        return Ok((-1, INFINITY));
+    }
+
+    match shortest_path(cell, target_cell, net, true, max_depth) {
+        Ok(path) => {
+            let cost = path.cost() + source_cell.distance_to(cell);
+            Ok((cell_id, cost))
+        }
+        Err(shortest_path::router::AStarError::NoPathFound { .. }) => {
+            Ok((-1, INFINITY))
+        }
+        Err(_) => {
+            if direction == "left" {
+                Err(IntentionError::LeftPathFind(cell_id))
+            } else {
+                Err(IntentionError::RightPathFind(cell_id))
+            }
+        }
+    }
+}
+
 /// If the vehicle cannot move forward, tries left or right lane changes
 /// and selects the best available option.
 ///
@@ -447,18 +549,7 @@ pub fn find_alternate_intention<'a>(
 
     // If maneuvers are not allowed (tail still completing previous maneuver), block immediately
     if !maneuvers_allowed {
-        let result = VehicleIntention {
-            intention_maneuver: LaneChangeType::Block,
-            intention_speed: 0,
-            destination: None,
-            confusion: None,
-            intention_cell_id: source_cell_id,
-            tail_intention_cells: vec![],
-            intermediate_cells: Vec::with_capacity(0),
-            tail_maneuver: TailIntentionManeuver::default(),
-            should_stop: false,
-        };
-        return Ok(result);
+        return Ok(create_block_intention(source_cell_id, false));
     }
 
     let source_cell = net
@@ -469,103 +560,93 @@ pub fn find_alternate_intention<'a>(
         .get_cell(&target_cell_id)
         .ok_or(IntentionError::NoTargetCell(target_cell_id))?;
 
-    let mut min_left_dist = INFINITY;
-    let mut min_right_dist = INFINITY;
-
-    // Check left maneuver
-    let mut left_cell_id = source_cell.get_left_id();
-    if left_cell_id > 0 {
-        let left_cell = net
-            .get_cell(&left_cell_id)
-            .ok_or(IntentionError::NoLeftCell(vehicle.cell_id))?;
-
-        // Check if possible maneuver can't be made
-        let is_blocked = current_state
-            .get(&left_cell_id)
-            .map(|&id| id > 0)
-            .unwrap_or(false);
-
-        if !is_blocked && left_cell.get_state() == CellState::Free {
-            match shortest_path(left_cell, target_cell, net, true, Some(vehicle.speed)) {
-                Ok(path) => {
-                    let cost = path.cost();
-                    min_left_dist = cost + source_cell.distance_to(left_cell);
-                }
-                Err(e)
-                    if e != shortest_path::router::AStarError::NoPathFound {
-                        start_id: left_cell_id,
-                        end_id: target_cell_id,
-                    } =>
-                {
-                    return Err(IntentionError::LeftPathFind(left_cell_id))
-                }
-                Err(_) => {
-                    min_left_dist = INFINITY;
-                }
-            }
-        } else {
-            left_cell_id = -1;
-        }
-    }
-
-    // Check right maneuver
-    let mut right_cell_id = source_cell.get_right_id();
-    if right_cell_id > 0 {
-        let right_cell = net
-            .get_cell(&right_cell_id)
-            .ok_or(IntentionError::NoRightCell(vehicle.cell_id))?;
+    // Check left and right alternate paths (no depth limit to see full route).
+    // A confused vehicle's destination is already proven unreachable, and
+    // reachability is monotone along directed edges - both probes would run a
+    // full failed A* just to return INFINITY, so skip them.
+    let (left_cell_id, min_left_dist) = if vehicle.confusion {
+        (-1, INFINITY)
+    } else {
+        check_alternate_direction(
+            source_cell.get_left_id(),
+            source_cell,
+            target_cell,
+            net,
+            current_state,
+            "left",
+            None,
+            // Some(vehicle.speed),  // depth-limited
+        )?
+    };
 
-        let is_blocked = current_state
-            .get(&right_cell_id)
-            .map(|&id| id > 0)
-            .unwrap_or(false);
+    let (right_cell_id, min_right_dist) = if vehicle.confusion {
+        (-1, INFINITY)
+    } else {
+        check_alternate_direction(
+            source_cell.get_right_id(),
+            source_cell,
+            target_cell,
+            net,
+            current_state,
+            "right",
+            None,
+            // Some(vehicle.speed),  // depth-limited
+        )?
+    };
 
-        if !is_blocked && right_cell.get_state() == CellState::Free {
-            match shortest_path(right_cell, target_cell, net, true, Some(vehicle.speed)) {
-                Ok(path) => {
-                    let cost = path.cost();
-                    min_right_dist = cost + source_cell.distance_to(right_cell);
-                }
-                Err(e)
-                    if e != shortest_path::router::AStarError::NoPathFound {
-                        start_id: right_cell_id,
-                        end_id: target_cell_id,
-                    } =>
+    // If both paths are impossible (infinite distance), don't attempt a lane change.
+    // Before blocking, try to keep rolling forward: a driver stuck next to a jammed
+    // lane drives along it and merges at a gap further ahead. If the destination
+    // becomes unreachable ahead, the regular per-tick A* will return NoPathFound on
+    // the next tick and the confusion fallback takes over (the vehicle may end up
+    // counted as lost - that is an accepted risk).
+    if min_left_dist == INFINITY && min_right_dist == INFINITY {
+        let forward_cell_id = source_cell.get_forward_id();
+        if forward_cell_id > 0 {
+            if let Some(forward_cell) = net.get_cell(&forward_cell_id) {
+                let is_occupied = current_state
+                    .get(&forward_cell_id)
+                    .map(|&id| id > 0)
+                    .unwrap_or(false);
+                if !is_occupied
+                    && forward_cell.get_state() == CellState::Free
+                    && forward_cell.get_speed_limit() > 0
                 {
-                    return Err(IntentionError::RightPathFind(right_cell_id))
-                }
-                Err(_) => {
-                    min_right_dist = INFINITY;
+                    return Ok(VehicleIntention {
+                        intention_maneuver: LaneChangeType::NoChange,
+                        intention_speed: 1,
+                        destination: None,
+                        confusion: None,
+                        intention_cell_id: forward_cell_id,
+                        tail_intention_cells: vec![],
+                        intermediate_cells: Vec::with_capacity(0),
+                        tail_maneuver: TailIntentionManeuver::default(),
+                        should_stop: false,
+                    });
                 }
             }
-        } else {
-            right_cell_id = -1;
         }
+        return Ok(create_block_intention(source_cell_id, true));
     }
 
-    // Choose best maneuver
-    let mut min_cell: CellID;
-    let mut intention_maneuver: LaneChangeType;
-    if UNDEFINED_MANEUVER == LaneChangeType::ChangeRight {
-        min_cell = right_cell_id;
-        intention_maneuver = LaneChangeType::ChangeRight;
-        if min_left_dist < min_right_dist {
-            min_cell = left_cell_id;
-            intention_maneuver = LaneChangeType::ChangeLeft;
-        }
+    // Choose best maneuver based on distance comparison
+    let (min_cell, intention_maneuver) = if min_left_dist < min_right_dist {
+        (left_cell_id, LaneChangeType::ChangeLeft)
+    } else if min_right_dist < min_left_dist {
+        (right_cell_id, LaneChangeType::ChangeRight)
     } else {
-        min_cell = left_cell_id;
-        intention_maneuver = LaneChangeType::ChangeLeft;
-        if min_right_dist < min_left_dist {
-            min_cell = right_cell_id;
-            intention_maneuver = LaneChangeType::ChangeRight;
+        // Equal distances - use UNDEFINED_MANEUVER as tiebreaker
+        if UNDEFINED_MANEUVER == LaneChangeType::ChangeRight {
+            (right_cell_id, LaneChangeType::ChangeRight)
+        } else {
+            (left_cell_id, LaneChangeType::ChangeLeft)
         }
-    }
+    };
 
-    // Apply the chosen maneuver
+    // Apply the chosen maneuver if valid
     if min_cell > 0 {
-        let result = VehicleIntention {
-            intention_maneuver: intention_maneuver,
+        return Ok(VehicleIntention {
+            intention_maneuver,
             intention_speed: 1,
             destination: None,
             confusion: None,
@@ -574,22 +655,9 @@ pub fn find_alternate_intention<'a>(
             intermediate_cells: Vec::with_capacity(0),
             tail_maneuver: TailIntentionManeuver::default(),
             should_stop: true,
-        };
-        return Ok(result);
+        })
     }
-    let result = VehicleIntention {
-        intention_maneuver: LaneChangeType::Block,
-        intention_speed: 0,
-        destination: None,
-        confusion: None,
-        intention_cell_id: source_cell_id,
-        tail_intention_cells: vec![],
-        intermediate_cells: Vec::with_capacity(0),
-        tail_maneuver: TailIntentionManeuver::default(),
-        should_stop: false,
-    };
-
-    Ok(result)
+    Ok(create_block_intention(source_cell_id, false))
 }
 
 #[cfg(test)]
diff --git a/src/movement/movement.rs b/src/movement/movement.rs
index 106670f..6a7c8c8 100644
--- a/src/movement/movement.rs
+++ b/src/movement/movement.rs
@@ -142,7 +142,7 @@ pub fn movement(
     net: &GridRoads,
     vehicles: &mut IndexMap<VehicleID, Vehicle>,
     verbose: &LocalLogger,
-) -> Result<(), MovementError> {
+) -> Result<(i32, i32), MovementError> {
     if verbose.is_at_least(VerboseLevel::Main) {
         verbose.log_with_fields(
             EVENT_MOVEMENT,
@@ -153,6 +153,8 @@ pub fn movement(
 
     // Collect vehicles to remove (to avoid borrowing issues during iteration)
     let mut vehicles_to_remove = Vec::new();
+    let mut vehicles_completed = 0i32;
+    let mut vehicles_lost = 0i32;
 
     for (vehicle_id, vehicle) in vehicles.iter_mut() {
         
@@ -173,23 +175,50 @@ pub fn movement(
         vehicle.apply_intention();
         vehicle.is_conflict_participant = false;
 
-        // Update bearing only when next cell is different from current
+        // Update bearing depending on intention maneuver
         if vehicle.cell_id != vehicle.intention.intention_cell_id {
+            // vehicle is moving? then set bearing based on actual movement
             let cell_from = net.get_cell(&vehicle.cell_id)
-                .ok_or(MovementError::CellNotFound { 
-                    cell_id: vehicle.cell_id, 
-                    vehicle_id: vehicle.id 
+                .ok_or(MovementError::CellNotFound {
+                    cell_id: vehicle.cell_id,
+                    vehicle_id: vehicle.id
                 })?;
             let cell_to = net.get_cell(&vehicle.intention.intention_cell_id)
-                .ok_or(MovementError::CellNotFound { 
-                    cell_id: vehicle.intention.intention_cell_id, 
-                    vehicle_id: vehicle.id 
+                .ok_or(MovementError::CellNotFound {
+                    cell_id: vehicle.intention.intention_cell_id,
+                    vehicle_id: vehicle.id
                 })?;
 
             let pt_from = cell_from.get_point();
             let pt_to = cell_to.get_point();
             vehicle.bearing = get_bearing(pt_from, pt_to);
+        } else {
+            // vehicle is stopped or blocked? bearing = angle to forward direction
+            use crate::maneuver::LaneChangeType;
+            match vehicle.intention.intention_maneuver {
+                LaneChangeType::Block | LaneChangeType::NoChange => {
+                    let current_cell = net.get_cell(&vehicle.cell_id)
+                        .ok_or(MovementError::CellNotFound {
+                            cell_id: vehicle.cell_id,
+                            vehicle_id: vehicle.id
+                        })?;
+                    let forward_id = current_cell.get_forward_id();
+                    if forward_id > 0 {
+                        if let Some(forward_cell) = net.get_cell(&forward_id) {
+                            let pt_from = current_cell.get_point();
+                            let pt_to = forward_cell.get_point();
+                            vehicle.bearing = get_bearing(pt_from, pt_to);
+                        }
+                    }
+                }
+                _ => {
+                    // keep bearing as is, dunno if it's good
+                }
+            }
+        }
 
+        // Decrement timers only if vehicle moved
+        if vehicle.cell_id != vehicle.intention.intention_cell_id {
             // Decrement timers
             if vehicle.timer_non_acceleration > 0 {
                 vehicle.timer_non_acceleration -= 1;
@@ -257,6 +286,9 @@ pub fn movement(
             let transits_made = vehicle.get_transits_made();
             if (transits_made as usize) < vehicle.transit_cells.len() && vehicle.get_relax_countdown() == 0 {
                 vehicle.destination = vehicle.transit_cells[transits_made as usize];
+                // Confusion means "current destination proven unreachable"; the verdict
+                // does not transfer to a newly assigned destination
+                vehicle.confusion = false;
                 vehicle.relax_countdown_reset();
             }
         }
@@ -264,27 +296,28 @@ pub fn movement(
         vehicle.travel_time += 1;
 
         // Check for vehicle removal conditions
-    if zone_type == ZoneType::Death && vehicle.cell_id != vehicle.destination {
-            // Vehicle has reached the death zone
+        if vehicle.cell_id == vehicle.trip_destination {
+            // Vehicle has reached the destination (priority check)
             if verbose.is_at_least(VerboseLevel::Main) {
                 verbose.log_with_fields(
-                    EVENT_MOVEMENT_DEAD_END,
-                    "Vehicle done movement due going to dead-end",
+                    EVENT_MOVEMENT_DESTINATION,
+                    "Vehicle done movement due reaching destination",
                     &[("vehicle_id", &vehicle.id)]
                 );
             }
             vehicles_to_remove.push(*vehicle_id);
-        }
-    if vehicle.cell_id == vehicle.destination {
-            // Vehicle has reached the destination
+            vehicles_completed += 1;
+        } else if zone_type == ZoneType::Death {
+            // Vehicle has reached the death zone without reaching destination (lost)
             if verbose.is_at_least(VerboseLevel::Main) {
                 verbose.log_with_fields(
-                    EVENT_MOVEMENT_DESTINATION,
-                    "Vehicle done movement due reaching destination",
+                    EVENT_MOVEMENT_DEAD_END,
+                    "Vehicle done movement due going to dead-end",
                     &[("vehicle_id", &vehicle.id)]
                 );
             }
             vehicles_to_remove.push(*vehicle_id);
+            vehicles_lost += 1;
         }
     }
 
@@ -295,5 +328,5 @@ pub fn movement(
         vehicles.swap_remove(&vehicle_id);
     }
 
-    Ok(())
+    Ok((vehicles_completed, vehicles_lost))
 }
\ No newline at end of file
diff --git a/src/simulation/session.rs b/src/simulation/session.rs
index 84cde8d..e9cf519 100644
--- a/src/simulation/session.rs
+++ b/src/simulation/session.rs
@@ -140,6 +140,12 @@ pub struct Session {
 
     /// Defines the SRID of the world
     world_srid: SRID,
+
+    /// Cumulative count of vehicles that reached their destination
+    vehicles_completed: i32,
+
+    /// Cumulative count of vehicles that were lost (reached death zone without reaching destination)
+    vehicles_lost: i32,
 }
 
 impl Session {
@@ -166,6 +172,8 @@ impl Session {
             _expire_at: 0,
             steps: 0,
             world_srid: picked_srid,
+            vehicles_completed: 0,
+            vehicles_lost: 0,
         }
     }
 
@@ -193,6 +201,8 @@ impl Session {
             _expire_at: 0,
             steps: 0,
             world_srid: picked_srid,
+            vehicles_completed: 0,
+            vehicles_lost: 0,
         }
     }
 
@@ -555,7 +565,9 @@ impl Session {
 
         // 7. Move vehicles
         let vehicles_grid = self.grids_storage.get_vehicles_net_ref();
-    movement(vehicles_grid, &mut self.vehicles, &self.verbose)?;
+        let (completed, lost) = movement(vehicles_grid, &mut self.vehicles, &self.verbose)?;
+        self.vehicles_completed += completed;
+        self.vehicles_lost += lost;
 
         // 8. Collect current vehicles positions for state dump
         let mut states_dump: Vec<VehicleState> = Vec::with_capacity(self.vehicles.len());
@@ -591,10 +603,26 @@ impl Session {
         let timestamp = self.steps;
         self.steps += 1;
 
+        // Log vehicle completion statistics
+        if self.verbose.is_at_least(VerboseLevel::Main) {
+            self.verbose.log_with_fields(
+                EVENT_STEP_COMPLETE,
+                "Step completed with vehicle statistics",
+                &[
+                    ("timestamp", &timestamp),
+                    ("active_vehicles", &self.vehicles.len()),
+                    ("vehicles_completed", &self.vehicles_completed),
+                    ("vehicles_lost", &self.vehicles_lost),
+                ]
+            );
+        }
+
         Ok(AutomataState {
             timestamp: timestamp,
             vehicles: states_dump,
             tls: tl_states_dump,
+            vehicles_completed: self.vehicles_completed,
+            vehicles_lost: self.vehicles_lost,
         })
     }
 
diff --git a/src/simulation/states.rs b/src/simulation/states.rs
index 90431f1..24d6f04 100644
--- a/src/simulation/states.rs
+++ b/src/simulation/states.rs
@@ -24,6 +24,10 @@ pub struct AutomataState {
     pub vehicles: Vec<VehicleState>,
     /// States of all traffic light groups at this timestamp
     pub tls: HashMap<TrafficLightID, Vec<TrafficLightGroupState>>,
+    /// Cumulative count of vehicles that reached their destination
+    pub vehicles_completed: i32,
+    /// Cumulative count of vehicles that were lost (reached death zone without reaching destination)
+    pub vehicles_lost: i32,
 }
 
 /// State of a single vehicle at a specific timestamp
diff --git a/src/verbose/verbose.rs b/src/verbose/verbose.rs
index 7d65457..4f52040 100644
--- a/src/verbose/verbose.rs
+++ b/src/verbose/verbose.rs
@@ -109,6 +109,7 @@ pub const EVENT_MOVEMENT_VEHICLE: &str = "movement_vehicle";
 pub const EVENT_MOVEMENT_DEAD_END: &str = "movement_dead_end";
 pub const EVENT_MOVEMENT_DESTINATION: &str = "movement_destination";
 pub const EVENT_ROUTING_STATS: &str = "routing_stats";
+pub const EVENT_STEP_COMPLETE: &str = "step_complete";
 pub const EVENT_SESSION_CREATE: &str = "session_create";
 pub const EVENT_SESSION_EXPIRED: &str = "session_expired";
 pub const EVENT_SESSION_EXTRACT_STATES: &str = "session_extract";