https://github.com/faizansana/intersection-carla-gym/blob/19b9d05c17b131e565b9e6ec95755906d3b4c253/src/carla_env_custom.py#L686 Currently, the pedestrian speeds are between 1 to 2 m/s and not 0.5 - 2 m/s which would be a better representation.