diff --git a/Docs/python_api.md b/Docs/python_api.md
index 381c42b9d..3fea6ea68 100644
--- a/Docs/python_api.md
+++ b/Docs/python_api.md
@@ -108,10 +108,25 @@
 - `apply_control(vehicle_control)`
 - `get_control()`
 - `set_autopilot(enabled=True)`
+- `get_speed_limit()`
+- `get_traffic_light_state()`
+- `is_at_traffic_light()`
+- `get_traffic_light()`
 
 ## `carla.TrafficLight(carla.Actor)`
 
 - `state`
+- `set_state(traffic_light_state)`
+- `get_state()`
+- `set_green_time(green_time)`
+- `get_green_time()`
+- `set_yellow_time(yellow_time)`
+- `get_yellow_time()`
+- `set_red_time(red_time)`
+- `get_red_time()`
+- `get_elapsed_time()`
+- `freeze(True)`
+- `is_frozen()`
 
 ## `carla.Sensor(carla.Actor)`
 
@@ -303,10 +318,10 @@ Static presets
 
 ## `carla.TrafficLightState`
 
-- `Off`
 - `Red`
 - `Yellow`
 - `Green`
+- `Off`
 - `Unknown`
 
 ## `carla.LaneMarking`
diff --git a/LibCarla/source/carla/client/TrafficLight.cpp b/LibCarla/source/carla/client/TrafficLight.cpp
index 3ee88a418..eb8eefc52 100644
--- a/LibCarla/source/carla/client/TrafficLight.cpp
+++ b/LibCarla/source/carla/client/TrafficLight.cpp
@@ -11,9 +11,50 @@
 namespace carla {
 namespace client {
 
-  rpc::TrafficLightState TrafficLight::GetState() {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_state;
+  void TrafficLight::SetState(rpc::TrafficLightState state) {
+    GetEpisode().Lock()->SetTrafficLightState(*this, state);
   }
 
+  rpc::TrafficLightState TrafficLight::GetState() const {
+    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.state;
+  }
+
+  void TrafficLight::SetGreenTime(float green_time) {
+    GetEpisode().Lock()->SetTrafficLightGreenTime(*this, green_time);
+  }
+
+  float TrafficLight::GetGreenTime() const {
+    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.green_time;
+  }
+
+  void TrafficLight::SetYellowTime(float yellow_time) {
+    GetEpisode().Lock()->SetTrafficLightYellowTime(*this, yellow_time);
+  }
+
+  float TrafficLight::GetYellowTime() const {
+    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.yellow_time;
+  }
+
+  void TrafficLight::SetRedTime(float red_time) {
+    GetEpisode().Lock()->SetTrafficLightRedTime(*this, red_time);
+  }
+
+  float TrafficLight::GetRedTime() const {
+    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.red_time;
+  }
+
+  float TrafficLight::GetElapsedTime() const {
+    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.elapsed_time;
+  }
+
+  void TrafficLight::Freeze(bool freeze) {
+    GetEpisode().Lock()->FreezeTrafficLight(*this, freeze);
+  }
+
+  bool TrafficLight::IsFrozen() const {
+    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.time_is_frozen;
+  }
+
+
 } // namespace client
-} // namespace carla
+} // namespace carla
\ No newline at end of file
diff --git a/LibCarla/source/carla/client/TrafficLight.h b/LibCarla/source/carla/client/TrafficLight.h
index 14deb6a00..0f34020a4 100644
--- a/LibCarla/source/carla/client/TrafficLight.h
+++ b/LibCarla/source/carla/client/TrafficLight.h
@@ -19,10 +19,20 @@ namespace client {
 
     /// Return the current state of the traffic light.
     ///
-    /// @note This function does not call the simulator, it returns the
-    /// traffic light state received in the last tick.
-    rpc::TrafficLightState GetState();
+    /// @note These functions do not call the simulator, they return the
+    /// data received in the last tick.
+    void SetState(rpc::TrafficLightState state);
+    rpc::TrafficLightState GetState() const;
+    void SetGreenTime(float green_time);
+    float GetGreenTime() const;
+    void SetYellowTime(float yellow_time);
+    float GetYellowTime() const;
+    void SetRedTime(float red_time);
+    float GetRedTime() const;
+    float GetElapsedTime() const;
+    void Freeze(bool freeze);
+    bool IsFrozen() const;
   };
 
 } // namespace client
-} // namespace carla
+} // namespace carla
\ No newline at end of file
diff --git a/LibCarla/source/carla/client/Vehicle.cpp b/LibCarla/source/carla/client/Vehicle.cpp
index bd4c98daf..ac3dc7d81 100644
--- a/LibCarla/source/carla/client/Vehicle.cpp
+++ b/LibCarla/source/carla/client/Vehicle.cpp
@@ -7,6 +7,9 @@
 #include "carla/client/Vehicle.h"
 
 #include "carla/client/detail/Simulator.h"
+#include "carla/client/ActorList.h"
+#include "carla/client/TrafficLight.h"
+#include "carla/rpc/TrafficLightState.h"
 
 namespace carla {
 namespace client {
@@ -23,8 +26,30 @@ namespace client {
   }
 
   Vehicle::Control Vehicle::GetControl() const {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_control;
+    return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.control;
+  }
+
+  float Vehicle::GetSpeedLimit() const
+  {
+    return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.speed_limit;
+  }
+
+  rpc::TrafficLightState Vehicle::GetTrafficLightState() const
+  {
+    return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.traffic_light_state;
+  }
+
+  bool Vehicle::IsAtTrafficLight()
+  {
+    return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.has_traffic_light;
+  }
+
+  SharedPtr<TrafficLight> Vehicle::GetTrafficLight() const
+  {
+    auto id = GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.traffic_light_id;
+    SharedPtr<Actor> actor = GetWorld().GetActors()->Find(id);
+    return boost::static_pointer_cast<TrafficLight>(actor);
   }
 
 } // namespace client
-} // namespace carla
+} // namespace carla
\ No newline at end of file
diff --git a/LibCarla/source/carla/client/Vehicle.h b/LibCarla/source/carla/client/Vehicle.h
index fd0a2b03c..121cf1ea7 100644
--- a/LibCarla/source/carla/client/Vehicle.h
+++ b/LibCarla/source/carla/client/Vehicle.h
@@ -8,9 +8,11 @@
 
 #include "carla/client/Actor.h"
 #include "carla/rpc/VehicleControl.h"
+#include "carla/rpc/TrafficLightState.h"
 
 namespace carla {
 namespace client {
+  class TrafficLight;
 
   class Vehicle : public Actor {
   public:
@@ -27,14 +29,22 @@ namespace client {
 
     /// Return the control last applied to this vehicle.
     ///
-    /// @note This function does not call the simulator, it returns the Control
+    /// @note The following functions do not call the simulator, they return the data
     /// received in the last tick.
+    //////////////////////////////////////////////////////////////////////////////////
     Control GetControl() const;
 
-  private:
+    float GetSpeedLimit() const;
 
+    rpc::TrafficLightState GetTrafficLightState() const;
+
+    bool IsAtTrafficLight();
+
+    SharedPtr<TrafficLight> GetTrafficLight() const;
+
+  private:
     Control _control;
   };
 
 } // namespace client
-} // namespace carla
+} // namespace carla
\ No newline at end of file
diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp
index 954412711..bbed887d7 100644
--- a/LibCarla/source/carla/client/detail/Client.cpp
+++ b/LibCarla/source/carla/client/detail/Client.cpp
@@ -14,6 +14,7 @@
 #include "carla/rpc/WalkerControl.h"
 #include "carla/streaming/Client.h"
 
+
 #include <thread>
 
 namespace carla {
@@ -148,15 +149,35 @@ namespace detail {
     _pimpl->AsyncCall("apply_control_to_walker", walker, control);
   }
 
- void Client::SetActorVelocity(const rpc::Actor &actor, const geom::Vector3D &vector) {
+  void Client::SetTrafficLightState(const rpc::Actor &trafficLight, const rpc::TrafficLightState trafficLightState) {
+    _pimpl->AsyncCall("set_traffic_light_state", trafficLight, trafficLightState);
+  }
+
+  void Client::SetTrafficLightGreenTime(const rpc::Actor &trafficLight, float greenTime) {
+    _pimpl->AsyncCall("set_traffic_light_green_time", trafficLight, greenTime);
+  }
+
+  void Client::SetTrafficLightYellowTime(const rpc::Actor &trafficLight, float yellowTime) {
+    _pimpl->AsyncCall("set_traffic_light_yellow_time", trafficLight, yellowTime);
+  }
+
+  void Client::SetTrafficLightRedTime(const rpc::Actor &trafficLight, float redTime) {
+    _pimpl->AsyncCall("set_traffic_light_red_time", trafficLight, redTime);
+  }
+
+  void Client::FreezeTrafficLight(const rpc::Actor &trafficLight, bool freeze) {
+    _pimpl->AsyncCall("freeze_traffic_light", trafficLight, freeze);
+  }
+
+  void Client::SetActorVelocity(const rpc::Actor &actor, const geom::Vector3D &vector) {
     _pimpl->AsyncCall("set_actor_velocity", actor, vector);
   }
 
- void Client::SetActorAngularVelocity(const rpc::Actor &actor, const geom::Vector3D &vector) {
+  void Client::SetActorAngularVelocity(const rpc::Actor &actor, const geom::Vector3D &vector) {
     _pimpl->AsyncCall("set_actor_angular_velocity", actor, vector);
   }
 
- void Client::AddActorImpulse(const rpc::Actor &actor, const geom::Vector3D &vector) {
+  void Client::AddActorImpulse(const rpc::Actor &actor, const geom::Vector3D &vector) {
     _pimpl->AsyncCall("add_actor_impulse", actor, vector);
   }
 
@@ -176,4 +197,4 @@ namespace detail {
 
 } // namespace detail
 } // namespace client
-} // namespace carla
+} // namespace carla
\ No newline at end of file
diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h
index 3d891126a..d51c8f904 100644
--- a/LibCarla/source/carla/client/detail/Client.h
+++ b/LibCarla/source/carla/client/detail/Client.h
@@ -15,6 +15,8 @@
 #include "carla/rpc/EpisodeInfo.h"
 #include "carla/rpc/MapInfo.h"
 #include "carla/rpc/WeatherParameters.h"
+#include "carla/rpc/TrafficLightState.h"
+
 
 #include <functional>
 #include <memory>
@@ -107,6 +109,26 @@ namespace detail {
         const rpc::Actor &walker,
         const rpc::WalkerControl &control);
 
+    void SetTrafficLightState(
+        const rpc::Actor &trafficLight,
+        const rpc::TrafficLightState trafficLightState);
+
+    void SetTrafficLightGreenTime(
+        const rpc::Actor &trafficLight,
+        float greenTime);
+
+    void SetTrafficLightYellowTime(
+        const rpc::Actor &trafficLight,
+        float yellowTime);
+
+    void SetTrafficLightRedTime(
+        const rpc::Actor &trafficLight,
+        float redTime);
+
+    void FreezeTrafficLight(
+        const rpc::Actor &trafficLight,
+        bool freeze);
+
     void SetActorVelocity(
         const rpc::Actor &actor,
         const geom::Vector3D &vector);
@@ -135,4 +157,4 @@ namespace detail {
 
 } // namespace detail
 } // namespace client
-} // namespace carla
+} // namespace carla
\ No newline at end of file
diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h
index 76aab1c45..1c2596908 100644
--- a/LibCarla/source/carla/client/detail/Simulator.h
+++ b/LibCarla/source/carla/client/detail/Simulator.h
@@ -18,6 +18,8 @@
 #include "carla/client/detail/Episode.h"
 #include "carla/client/detail/EpisodeProxy.h"
 #include "carla/profiler/LifetimeProfiled.h"
+#include "carla/client/TrafficLight.h"
+#include "carla/rpc/TrafficLightState.h"
 
 #include <memory>
 
@@ -235,6 +237,31 @@ namespace detail {
 
     void UnSubscribeFromSensor(const Sensor &sensor);
 
+    /// @}
+    // =========================================================================
+    /// @name Operations with traffic lights
+    // =========================================================================
+    /// @{
+    void SetTrafficLightState(TrafficLight &trafficLight, const rpc::TrafficLightState trafficLightState) {
+      _client.SetTrafficLightState(trafficLight.Serialize(), trafficLightState);
+    }
+
+    void SetTrafficLightGreenTime(TrafficLight &trafficLight, float greenTime) {
+      _client.SetTrafficLightGreenTime(trafficLight.Serialize(), greenTime);
+    }
+
+    void SetTrafficLightYellowTime(TrafficLight &trafficLight, float yellowTime) {
+      _client.SetTrafficLightYellowTime(trafficLight.Serialize(), yellowTime);
+    }
+
+    void SetTrafficLightRedTime(TrafficLight &trafficLight, float redTime) {
+      _client.SetTrafficLightRedTime(trafficLight.Serialize(), redTime);
+    }
+
+    void FreezeTrafficLight(TrafficLight &trafficLight, bool freeze) {
+      _client.FreezeTrafficLight(trafficLight.Serialize(), freeze);
+    }
+
     /// @}
     // =========================================================================
     /// @name Debug
@@ -258,4 +285,4 @@ namespace detail {
 
 } // namespace detail
 } // namespace client
-} // namespace carla
+} // namespace carla
\ No newline at end of file
diff --git a/LibCarla/source/carla/rpc/TrafficLightState.h b/LibCarla/source/carla/rpc/TrafficLightState.h
index 317c0a1d6..c4c924505 100644
--- a/LibCarla/source/carla/rpc/TrafficLightState.h
+++ b/LibCarla/source/carla/rpc/TrafficLightState.h
@@ -14,11 +14,10 @@ namespace carla {
 namespace rpc {
 
   enum class TrafficLightState : uint8_t {
-    Off,
     Red,
     Yellow,
     Green,
-
+    Off,
     Unknown,
     SIZE
   };
@@ -26,4 +25,4 @@ namespace rpc {
 } // namespace rpc
 } // namespace carla
 
-MSGPACK_ADD_ENUM(carla::rpc::TrafficLightState);
+MSGPACK_ADD_ENUM(carla::rpc::TrafficLightState);
\ No newline at end of file
diff --git a/LibCarla/source/carla/sensor/data/ActorDynamicState.h b/LibCarla/source/carla/sensor/data/ActorDynamicState.h
index 0c209931d..a32df5e6c 100644
--- a/LibCarla/source/carla/sensor/data/ActorDynamicState.h
+++ b/LibCarla/source/carla/sensor/data/ActorDynamicState.h
@@ -52,6 +52,18 @@ namespace detail {
   };
 #pragma pack(pop)
 
+#pragma pack(push, 1)
+  struct VehicleData {
+    VehicleData() = default;
+
+    PackedVehicleControl control;
+    float speed_limit;
+    rpc::TrafficLightState traffic_light_state;
+    bool has_traffic_light;
+    rpc::actor_id_type traffic_light_id;
+  };
+#pragma pack(pop)
+
 #pragma pack(push, 1)
   class PackedWalkerControl {
   public:
@@ -75,6 +87,18 @@ namespace detail {
   };
 #pragma pack(pop)
 
+#pragma pack(push, 1)
+  struct TrafficLightData {
+    TrafficLightData() = default;
+
+    rpc::TrafficLightState state;
+    float green_time;
+    float yellow_time;
+    float red_time;
+    float elapsed_time;
+    bool time_is_frozen;
+  };
+#pragma pack(pop)
 } // namespace detail
 
 #pragma pack(push, 1)
@@ -91,8 +115,8 @@ namespace detail {
     geom::Vector3D angular_velocity;
 
     union TypeDependentState {
-      rpc::TrafficLightState traffic_light_state;
-      detail::PackedVehicleControl vehicle_control;
+      detail::TrafficLightData traffic_light_data;
+      detail::VehicleData vehicle_data;
       detail::PackedWalkerControl walker_control;
     } state;
   };
@@ -100,9 +124,9 @@ namespace detail {
 #pragma pack(pop)
 
   static_assert(
-      sizeof(ActorDynamicState) == 13u * sizeof(uint32_t) + sizeof(detail::PackedVehicleControl),
+      sizeof(ActorDynamicState) == 13u * sizeof(uint32_t) + sizeof(detail::VehicleData),
       "Invalid ActorDynamicState size!");
 
 } // namespace data
 } // namespace sensor
-} // namespace carla
+} // namespace carla
\ No newline at end of file
diff --git a/PythonAPI/source/libcarla/Actor.cpp b/PythonAPI/source/libcarla/Actor.cpp
index 182045e69..cf441c919 100644
--- a/PythonAPI/source/libcarla/Actor.cpp
+++ b/PythonAPI/source/libcarla/Actor.cpp
@@ -76,6 +76,10 @@ void export_actor() {
     .def("apply_control", &cc::Vehicle::ApplyControl, (arg("control")))
     .def("get_control", &cc::Vehicle::GetControl)
     .def("set_autopilot", &cc::Vehicle::SetAutopilot, (arg("enabled")=true))
+    .def("get_speed_limit", &cc::Vehicle::GetSpeedLimit)
+    .def("get_traffic_light_state", &cc::Vehicle::GetTrafficLightState)
+    .def("is_at_traffic_light", &cc::Vehicle::IsAtTrafficLight)
+    .def("get_traffic_light", &cc::Vehicle::GetTrafficLight)
     .def(self_ns::str(self_ns::self))
   ;
 
@@ -87,15 +91,26 @@ void export_actor() {
   ;
 
   enum_<cr::TrafficLightState>("TrafficLightState")
-    .value("Off", cr::TrafficLightState::Off)
     .value("Red", cr::TrafficLightState::Red)
     .value("Yellow", cr::TrafficLightState::Yellow)
     .value("Green", cr::TrafficLightState::Green)
+    .value("Off", cr::TrafficLightState::Off)
     .value("Unknown", cr::TrafficLightState::Unknown)
   ;
 
   class_<cc::TrafficLight, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::TrafficLight>>("TrafficLight", no_init)
     .add_property("state", &cc::TrafficLight::GetState)
+    .def("set_state", &cc::TrafficLight::SetState, (arg("state")))
+    .def("get_state", &cc::TrafficLight::GetState)
+    .def("set_green_time", &cc::TrafficLight::SetGreenTime, (arg("green_time")))
+    .def("get_green_time", &cc::TrafficLight::GetGreenTime)
+    .def("set_yellow_time", &cc::TrafficLight::SetYellowTime, (arg("yellow_time")))
+    .def("get_yellow_time", &cc::TrafficLight::GetYellowTime)
+    .def("set_red_time", &cc::TrafficLight::SetRedTime, (arg("red_time")))
+    .def("get_red_time", &cc::TrafficLight::GetRedTime)
+    .def("get_elapsed_time", &cc::TrafficLight::GetElapsedTime)
+    .def("freeze", &cc::TrafficLight::Freeze, (arg("freeze")))
+    .def("is_frozen", &cc::TrafficLight::IsFrozen)
     .def(self_ns::str(self_ns::self))
   ;
-}
+}
\ No newline at end of file
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp
index e5b0706d0..bf01c4e88 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp
@@ -17,7 +17,7 @@
 #include <carla/sensor/data/ActorDynamicState.h>
 #include <compiler/enable-ue4-macros.h>
 
-static auto AWorldObserver_GetActorState(const FActorView &View)
+static auto AWorldObserver_GetActorState(const FActorView &View, const FActorRegistry &Registry)
 {
   using AType = FActorView::ActorType;
 
@@ -28,9 +28,28 @@ static auto AWorldObserver_GetActorState(const FActorView &View)
     auto Vehicle = Cast<ACarlaWheeledVehicle>(View.GetActor());
     if (Vehicle != nullptr)
     {
-      state.vehicle_control = carla::rpc::VehicleControl{Vehicle->GetVehicleControl()};
+      state.vehicle_data.control = carla::rpc::VehicleControl{Vehicle->GetVehicleControl()};
+      auto Controller = Cast<AWheeledVehicleAIController>(Vehicle->GetController());
+      if (Controller != nullptr)
+      {
+        using TLS = carla::rpc::TrafficLightState;
+        state.vehicle_data.traffic_light_state = static_cast<TLS>(Controller->GetTrafficLightState());
+        state.vehicle_data.speed_limit = Controller->GetSpeedLimit();
+        auto TrafficLight = Controller->GetTrafficLight();
+        if (TrafficLight != nullptr)
+        {
+          state.vehicle_data.has_traffic_light = true;
+          auto TrafficLightView = Registry.Find(TrafficLight);
+          state.vehicle_data.traffic_light_id = TrafficLightView.GetActorId();
+        }
+        else
+        {
+          state.vehicle_data.has_traffic_light = false;
+        }
+      }
     }
   }
+
   else if (AType::Walker == View.GetActorType())
   {
     auto Walker = Cast<APawn>(View.GetActor());
@@ -46,7 +65,12 @@ static auto AWorldObserver_GetActorState(const FActorView &View)
     if (TrafficLight != nullptr)
     {
       using TLS = carla::rpc::TrafficLightState;
-      state.traffic_light_state = static_cast<TLS>(TrafficLight->GetTrafficSignState());
+      state.traffic_light_data.state = static_cast<TLS>(TrafficLight->GetTrafficLightState());
+      state.traffic_light_data.green_time = TrafficLight->GetGreenTime();
+      state.traffic_light_data.yellow_time = TrafficLight->GetYellowTime();
+      state.traffic_light_data.red_time = TrafficLight->GetRedTime();
+      state.traffic_light_data.elapsed_time = TrafficLight->GetElapsedTime();
+      state.traffic_light_data.time_is_frozen = TrafficLight->GetTimeIsFrozen();
     }
   }
 
@@ -90,7 +114,7 @@ static carla::Buffer AWorldObserver_Serialize(
       actor_view.GetActor()->GetActorTransform(),
       carla::geom::Vector3D{velocity.X, velocity.Y, velocity.Z},
       carla::geom::Vector3D{angularVelocity.X, angularVelocity.Y, angularVelocity.Z},
-      AWorldObserver_GetActorState(actor_view)
+      AWorldObserver_GetActorState(actor_view, Registry)
     };
     write_data(info);
   }
@@ -120,4 +144,4 @@ void AWorldObserver::Tick(float DeltaSeconds)
       Episode->GetActorRegistry());
 
   Stream.Send_GameThread(*this, std::move(buffer));
-}
+}
\ No newline at end of file
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
index ba2df7292..fcc6a6ba4 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
@@ -470,6 +470,71 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     Controller->SetAutopilot(bEnabled);
   });
 
+  Server.BindSync("set_traffic_light_state", [this](cr::Actor Actor, cr::TrafficLightState trafficLightState) {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to set state: actor not found");
+    }
+    auto TrafficLight = Cast<ATrafficLightBase>(ActorView.GetActor());
+    if (TrafficLight == nullptr) {
+      RespondErrorStr("unable to set state: actor is not a traffic light");
+    }
+    TrafficLight->SetTrafficLightState(static_cast<ETrafficLightState>(trafficLightState));
+  });
+
+  Server.BindSync("set_traffic_light_green_time", [this](cr::Actor Actor, float GreenTime) {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to set green time: actor not found");
+    }
+    auto TrafficLight = Cast<ATrafficLightBase>(ActorView.GetActor());
+    if (TrafficLight == nullptr) {
+      RespondErrorStr("unable to set green time: actor is not a traffic light");
+    }
+    TrafficLight->SetGreenTime(GreenTime);
+  });
+
+  Server.BindSync("set_traffic_light_yellow_time", [this](cr::Actor Actor, float YellowTime) {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to set yellow time: actor not found");
+    }
+    auto TrafficLight = Cast<ATrafficLightBase>(ActorView.GetActor());
+    if (TrafficLight == nullptr) {
+      RespondErrorStr("unable to set yellow time: actor is not a traffic light");
+    }
+    TrafficLight->SetYellowTime(YellowTime);
+  });
+
+  Server.BindSync("set_traffic_light_red_time", [this](cr::Actor Actor, float RedTime) {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to set red time: actor not found");
+    }
+    auto TrafficLight = Cast<ATrafficLightBase>(ActorView.GetActor());
+    if (TrafficLight == nullptr) {
+      RespondErrorStr("unable to set red time: actor is not a traffic light");
+    }
+    TrafficLight->SetRedTime(RedTime);
+  });
+
+  Server.BindSync("freeze_traffic_light", [this](cr::Actor Actor, bool Freeze) {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to alter frozen state: actor not found");
+    }
+    auto TrafficLight = Cast<ATrafficLightBase>(ActorView.GetActor());
+    if (TrafficLight == nullptr) {
+      RespondErrorStr("unable to alter frozen state: actor is not a traffic light");
+    }
+    TrafficLight->SetTimeIsFrozen(Freeze);
+  });
+
   Server.BindSync("draw_debug_shape", [this](const cr::DebugShape &shape) {
     RequireEpisode();
     auto *World = Episode->GetWorld();
@@ -526,4 +591,4 @@ void FTheNewCarlaServer::Stop()
 carla::rpc::Actor FTheNewCarlaServer::SerializeActor(FActorView View) const
 {
   return Pimpl->SerializeActor(View);
-}
+}
\ No newline at end of file
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp
index 557828ebd..3a53ff801 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp
@@ -38,7 +38,7 @@ static ETrafficSignState ToTrafficSignState(ETrafficLightState State) {
 ATrafficLightBase::ATrafficLightBase(const FObjectInitializer &ObjectInitializer)
   : Super(ObjectInitializer)
 {
-	PrimaryActorTick.bCanEverTick = false;
+	PrimaryActorTick.bCanEverTick = true;
 }
 
 void ATrafficLightBase::OnConstruction(const FTransform &Transform)
@@ -47,6 +47,38 @@ void ATrafficLightBase::OnConstruction(const FTransform &Transform)
   SetTrafficLightState(State);
 }
 
+void ATrafficLightBase::Tick(float DeltaSeconds)
+{
+  if (TimeIsFrozen)
+  {
+    return;
+  }
+
+  ElapsedTime += DeltaSeconds;
+
+  float ChangeTime;
+
+  switch (State) {
+    case ETrafficLightState::Red:
+      ChangeTime = RedTime;
+      break;
+    case ETrafficLightState::Yellow:
+      ChangeTime = YellowTime;
+      break;
+    case ETrafficLightState::Green:
+       ChangeTime = GreenTime;
+      break;
+    default:
+      UE_LOG(LogCarla, Error, TEXT("Invalid traffic light state!"));
+      SetTrafficLightState(ETrafficLightState::Red);
+      return;
+  }
+
+  if (ElapsedTime > ChangeTime) {
+    SwitchTrafficLightState();
+  }
+}
+
 #if WITH_EDITOR
 void ATrafficLightBase::PostEditChangeProperty(FPropertyChangedEvent &Event)
 {
@@ -61,11 +93,16 @@ void ATrafficLightBase::PostEditChangeProperty(FPropertyChangedEvent &Event)
 
 void ATrafficLightBase::SetTrafficLightState(const ETrafficLightState InState)
 {
+  NumChanges++;
+  ElapsedTime = 0.0f;
   State = InState;
   SetTrafficSignState(ToTrafficSignState(State));
   for (auto Controller : Vehicles) {
     if (Controller != nullptr) {
       Controller->SetTrafficLightState(State);
+      if (State == ETrafficLightState::Green) {
+        Controller->SetTrafficLight(nullptr);
+      }
     }
   }
   if (State == ETrafficLightState::Green) {
@@ -101,7 +138,63 @@ void ATrafficLightBase::NotifyWheeledVehicle(ACarlaWheeledVehicle *Vehicle)
       Controller->SetTrafficLightState(State);
       if (State != ETrafficLightState::Green) {
         Vehicles.Add(Controller);
+        Controller->SetTrafficLight(this);
       }
     }
   }
 }
+
+void ATrafficLightBase::SetGreenTime(float InGreenTime)
+{
+  GreenTime = InGreenTime;
+}
+
+float ATrafficLightBase::GetGreenTime() const
+{
+  return GreenTime;
+}
+
+void ATrafficLightBase::SetYellowTime(float InYellowTime)
+{
+  YellowTime = InYellowTime;
+}
+
+float ATrafficLightBase::GetYellowTime() const
+{
+  return YellowTime;
+}
+
+void ATrafficLightBase::SetRedTime(float InRedTime)
+{
+  RedTime = InRedTime;
+}
+
+float ATrafficLightBase::GetRedTime() const
+{
+  return RedTime;
+}
+
+float ATrafficLightBase::GetElapsedTime() const
+{
+  return ElapsedTime;
+}
+
+void ATrafficLightBase::SetTimeIsFrozen(bool InTimeIsFrozen)
+{
+  TimeIsFrozen = InTimeIsFrozen;
+  if (!TimeIsFrozen)
+  {
+    NumChanges = 0;
+    ElapsedTime = 0.0f;
+  }
+}
+
+bool ATrafficLightBase::GetTimeIsFrozen() const
+{
+  return TimeIsFrozen;
+}
+
+int ATrafficLightBase::GetNumChanges() const
+{
+  return NumChanges;
+}
\ No newline at end of file
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h
index 762da424b..89cad918d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h
@@ -12,6 +12,7 @@
 
 #include "TrafficLightBase.generated.h"
 
+
 class ACarlaWheeledVehicle;
 class AWheeledVehicleAIController;
 
@@ -24,10 +25,14 @@ public:
 
   ATrafficLightBase(const FObjectInitializer &ObjectInitializer);
 
+  virtual void Tick(float DeltaSeconds) override;
+
 protected:
 
   virtual void OnConstruction(const FTransform &Transform) override;
 
+
+
 #if WITH_EDITOR
   virtual void PostEditChangeProperty(FPropertyChangedEvent &PropertyChangedEvent) override;
 #endif // WITH_EDITOR
@@ -50,6 +55,36 @@ public:
   UFUNCTION(Category = "Traffic Light", BlueprintCallable)
   void NotifyWheeledVehicle(ACarlaWheeledVehicle *Vehicle);
 
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  void SetGreenTime(float InGreenTime);
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  float GetGreenTime() const;
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  void SetYellowTime(float InYellowTime);
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  float GetYellowTime() const;
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  void SetRedTime(float InRedTime);
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  float GetRedTime() const;
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  float GetElapsedTime() const;
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  void SetTimeIsFrozen(bool InTimeIsFrozen);
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  bool GetTimeIsFrozen() const;
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  int GetNumChanges() const;
+
 protected:
 
   UFUNCTION(Category = "Traffic Light", BlueprintImplementableEvent)
@@ -62,4 +97,22 @@ private:
 
   UPROPERTY(Category = "Traffic Light", VisibleAnywhere)
   TArray<AWheeledVehicleAIController *> Vehicles;
-};
+
+  UPROPERTY(Category = "Traffic Light", EditAnywhere)
+  float GreenTime = 10.0f;
+
+  UPROPERTY(Category = "Traffic Light", EditAnywhere)
+  float YellowTime = 2.0f;
+
+  UPROPERTY(Category = "Traffic Light", EditAnywhere)
+  float RedTime = 7.0f;
+
+  UPROPERTY(Category = "Traffic Light", VisibleAnywhere)
+  float ElapsedTime = 0.0f;
+
+  UPROPERTY(Category = "Traffic Light", EditAnywhere)
+  bool TimeIsFrozen = false;
+
+  UPROPERTY(Category = "Traffic Light", VisibleAnywhere)
+  int NumChanges = 0;
+};
\ No newline at end of file
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h
index d03969b00..b1d789dce 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h
@@ -176,6 +176,20 @@ public:
     TrafficLightState = InTrafficLightState;
   }
 
+  /// Get traffic light currently affecting this vehicle.
+  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
+  ATrafficLightBase* GetTrafficLight() const
+  {
+    return TrafficLight;
+  }
+
+  /// Set traffic light currently affecting this vehicle.
+  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
+  void SetTrafficLight(ATrafficLightBase* InTrafficLight)
+  {
+    TrafficLight = InTrafficLight;
+  }
+
   /// Set a fixed route to follow if autopilot is enabled.
   UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
   void SetFixedRoute(const TArray<FVector> &Locations, bool bOverwriteCurrent=true);
@@ -192,6 +206,7 @@ public:
     return AutopilotControl;
   }
 
+
 private:
 
   void TickAutopilotController();
@@ -235,7 +250,10 @@ private:
   UPROPERTY(VisibleAnywhere)
   float MaximumSteerAngle = -1.0f;
 
+  UPROPERTY()
+  ATrafficLightBase* TrafficLight;
+
   FVehicleControl AutopilotControl;
 
   std::queue<FVector> TargetLocations;
-};
+};
\ No newline at end of file