diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index ce9fd75f5d..8380aeacc0 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -40,9 +40,12 @@ struct AirSimSettings {
         ImageType image_type;
         bool visible;
         std::string camera_name;
+        std::string vehicle_name;
 
-        SubwindowSetting(int window_index_val = 0, ImageType image_type_val = ImageType::Scene, bool visible_val = false, const std::string& camera_name_val = "")
-            : window_index(window_index_val), image_type(image_type_val), visible(visible_val), camera_name(camera_name_val)
+        SubwindowSetting(int window_index_val = 0, ImageType image_type_val = ImageType::Scene, 
+                bool visible_val = false, const std::string& camera_name_val = "", const std::string& vehicle_name_val = "")
+            : window_index(window_index_val), image_type(image_type_val), 
+              visible(visible_val), camera_name(camera_name_val), vehicle_name(vehicle_name_val)
         {
         }
     };
@@ -1002,6 +1005,7 @@ struct AirSimSettings {
                         json_settings_child.getInt("ImageType", 0));
                     subwindow_setting.visible = json_settings_child.getBool("Visible", false);
                     subwindow_setting.camera_name = getCameraName(json_settings_child);
+                    subwindow_setting.vehicle_name = json_settings_child.getString("Vehicle", "");
                 }
             }
         }
@@ -1010,9 +1014,9 @@ struct AirSimSettings {
     static void initializeSubwindowSettings(std::vector<SubwindowSetting>& subwindow_settings)
     {
         subwindow_settings.clear();
-        subwindow_settings.push_back(SubwindowSetting(0, ImageType::DepthVis, false, "")); //depth
-        subwindow_settings.push_back(SubwindowSetting(0, ImageType::Segmentation, false, "")); //seg
-        subwindow_settings.push_back(SubwindowSetting(0, ImageType::Scene, false, "")); //vis
+        subwindow_settings.push_back(SubwindowSetting(0, ImageType::DepthVis, false, "", "")); //depth
+        subwindow_settings.push_back(SubwindowSetting(0, ImageType::Segmentation, false, "", "")); //seg
+        subwindow_settings.push_back(SubwindowSetting(0, ImageType::Scene, false, "", "")); //vis
     }
 
     void loadOtherSettings(const Settings& settings_json)
diff --git a/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp b/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp
index 77a56954d5..efe74f2870 100644
--- a/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp
+++ b/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp
@@ -323,18 +323,25 @@ void ASimHUD::initializeSubWindows()
         }
         else
             subwindow_cameras_[0] = subwindow_cameras_[1] = subwindow_cameras_[2] = nullptr;
+    }
 
+    // TODO: Set default cameras
+    for (size_t window_index = 0; window_index < AirSimSettings::kSubwindowCount; ++window_index) {
 
-        for (size_t window_index = 0; window_index < AirSimSettings::kSubwindowCount; ++window_index) {
-
-            const auto& subwindow_setting = AirSimSettings::singleton().subwindow_settings.at(window_index);
+        const auto& subwindow_setting = AirSimSettings::singleton().subwindow_settings.at(window_index);
+        auto vehicle_sim_api = simmode_->getVehicleSimApi(subwindow_setting.vehicle_name);
 
+        if (vehicle_sim_api) {
             if (vehicle_sim_api->getCamera(subwindow_setting.camera_name) != nullptr)
                 subwindow_cameras_[subwindow_setting.window_index] = vehicle_sim_api->getCamera(subwindow_setting.camera_name);
             else
                 UAirBlueprintLib::LogMessageString("CameraID in <SubWindows> element in settings.json is invalid",
                     std::to_string(window_index), LogDebugLevel::Failure);
         }
+        else
+            UAirBlueprintLib::LogMessageString("Vehicle in <SubWindows> element in settings.json is invalid",
+                std::to_string(window_index), LogDebugLevel::Failure);
+
     }