diff --git a/LibCarla/source/carla/opendrive/parser/ObjectParser.cpp b/LibCarla/source/carla/opendrive/parser/ObjectParser.cpp
index 620898a1b..ee73920f6 100644
--- a/LibCarla/source/carla/opendrive/parser/ObjectParser.cpp
+++ b/LibCarla/source/carla/opendrive/parser/ObjectParser.cpp
@@ -32,6 +32,7 @@ namespace parser {
 
           // type Crosswalk
           std::string type = node_object.attribute("type").as_string();
+          std::string name = node_object.attribute("name").as_string();
           if (type == "crosswalk") {
 
               // read all points
@@ -62,6 +63,31 @@ namespace parser {
                 node_object.attribute("length").as_double(),
                 points);
 
+          } else if (name.substr(0, 6) == "Speed_") {
+            road::RoadId road_id = node_road.attribute("id").as_uint();
+            road::Road *road = map_builder.GetRoad(road_id);
+            // speed signal by roadrunner
+            std::string speed_str = name.substr(6);
+            double speed = std::stod(speed_str);
+            map_builder.AddSignal(road,
+                node_object.attribute("id").as_string(),
+                node_object.attribute("s").as_double(),
+                node_object.attribute("t").as_double(),
+                node_object.attribute("name").as_string(),
+                "no",
+                node_object.attribute("orientation").value(),
+                node_object.attribute("zOffset").as_double(),
+                "OpenDRIVE",
+                "274",
+                speed_str,
+                speed,
+                "mph",
+                node_object.attribute("height").as_double(),
+                node_object.attribute("width").as_double(),
+                speed_str,
+                node_object.attribute("hdg").as_double(),
+                node_object.attribute("pitch").as_double(),
+                node_object.attribute("roll").as_double());
           }
         }
       }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp
index 6a5492bb0..1830bdf39 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp
@@ -378,9 +378,10 @@ T * GetClosestTrafficSignActor(const carla::road::Signal &Signal, UWorld* World)
   for (AActor* Actor : Actors)
   {
     float Dist = FVector::DistSquared(Actor->GetActorLocation(), Location);
-    if (Dist < MinDistance && MatchSignalAndActor(Signal, ClosestTrafficSign))
+    T * TrafficSign = Cast<T>(Actor);
+    if (Dist < MinDistance && MatchSignalAndActor(Signal, TrafficSign))
     {
-      ClosestTrafficSign = Cast<T>(Actor);
+      ClosestTrafficSign = TrafficSign;
       MinDistance = Dist;
     }
   }
@@ -402,8 +403,8 @@ void ATrafficLightManager::SpawnTrafficLights()
       {
         continue;
       }
-      ATrafficSignBase * ClosestTrafficSign = GetClosestTrafficSignActor(*Signal.get(), GetWorld());
-      ATrafficLightBase * TrafficLight = Cast<ATrafficLightBase>(ClosestTrafficSign);
+      ATrafficLightBase * TrafficLight = GetClosestTrafficSignActor<ATrafficLightBase>(
+          *Signal.get(), GetWorld());
       if (TrafficLight)
       {
         UTrafficLightComponent *TrafficLightComponent = TrafficLight->GetTrafficLightComponent();
@@ -425,8 +426,8 @@ void ATrafficLightManager::SpawnTrafficLights()
        carla::road::SignalType::IsTrafficLight(Signal->GetType()) &&
        !SignalsToSpawn.count(SignalId))
     {
-      ATrafficSignBase * ClosestTrafficSign = GetClosestTrafficSignActor(*Signal.get(), GetWorld());
-      ATrafficLightBase * TrafficLight = Cast<ATrafficLightBase>(ClosestTrafficSign);
+      ATrafficLightBase * TrafficLight = GetClosestTrafficSignActor<ATrafficLightBase>(
+          *Signal.get(), GetWorld());
       if (TrafficLight)
       {
         UTrafficLightComponent *TrafficLightComponent = TrafficLight->GetTrafficLightComponent();