diff --git a/CHANGELOG.md b/CHANGELOG.md
index a89679f54..c8cbe6aa7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,9 @@
+## CARLA 0.4.4
+
+  * Fixed regression walkers despawning when stopping after seeing a car
+  * Changed, collision is only registered if player moves faster than 1 km/h
+  * Fixed issue walkers resume movement after sensing nothing, but the car is still there sometimes
+
 ## CARLA 0.4.3
 
   * Fixed issue with reward, intersect other lane wasn't sent to the client
diff --git a/Carla.uplugin b/Carla.uplugin
index c7dfe0cd2..8525dd2a2 100644
--- a/Carla.uplugin
+++ b/Carla.uplugin
@@ -1,7 +1,7 @@
 {
 	"FileVersion": 3,
 	"Version": 1,
-	"VersionName": "0.4.3",
+	"VersionName": "0.4.4",
 	"FriendlyName": "CARLA",
 	"Description": "",
 	"Category": "Science",
diff --git a/Resources/RELEASE.README.md b/Resources/RELEASE.README.md
index 1d05ced7a..2e81990ac 100644
--- a/Resources/RELEASE.README.md
+++ b/Resources/RELEASE.README.md
@@ -1,6 +1,10 @@
 CARLA UE4
 =========
 
+To run the game with the second city
+
+    $ CarlaUE4.sh /Game/Maps/CARLA_ORIGIN_1
+
 To run the game at fixed time-step, e.g. 30 FPS
 
     $ CarlaUE4.sh -benchmark -fps=30
diff --git a/Source/Carla/AI/WalkerAIController.cpp b/Source/Carla/AI/WalkerAIController.cpp
index 334058519..0db69f343 100644
--- a/Source/Carla/AI/WalkerAIController.cpp
+++ b/Source/Carla/AI/WalkerAIController.cpp
@@ -204,10 +204,10 @@ void AWalkerAIController::OnMoveCompleted(
 void AWalkerAIController::SenseActors(const TArray<AActor *> Actors)
 {
   const auto *aPawn = GetPawn();
-  if ((aPawn != nullptr) && IntersectsWithVehicle(*aPawn, Actors)) {
+  if ((Status == EWalkerStatus::Moving) &&
+      (aPawn != nullptr) &&
+      IntersectsWithVehicle(*aPawn, Actors)) {
     TryPauseMovement();
-  } else if (Status == EWalkerStatus::Paused) {
-    TryResumeMovement();
   }
 }
 
diff --git a/Source/Carla/AI/WalkerSpawnerBase.cpp b/Source/Carla/AI/WalkerSpawnerBase.cpp
index 0cd9fa6f4..2fa72f3be 100644
--- a/Source/Carla/AI/WalkerSpawnerBase.cpp
+++ b/Source/Carla/AI/WalkerSpawnerBase.cpp
@@ -116,7 +116,9 @@ void AWalkerSpawnerBase::Tick(float DeltaTime)
     const int32 Index = (++CurrentIndexToCheck % WalkersBlackList.Num());
     auto Walker = WalkersBlackList[Index];
     const auto Status = GetWalkerStatus(Walker);
-    if (Status != EWalkerStatus::Moving) {
+    if ((Status == EWalkerStatus::MoveCompleted) ||
+        (Status == EWalkerStatus::Invalid) ||
+        (Status == EWalkerStatus::RunOver)) {
       WalkersBlackList.RemoveAtSwap(Index);
       if ((Walker != nullptr) && (Status != EWalkerStatus::RunOver)) {
         Walker->Destroy();
diff --git a/Source/Carla/Carla.h b/Source/Carla/Carla.h
index a8697677e..dcaaa801b 100644
--- a/Source/Carla/Carla.h
+++ b/Source/Carla/Carla.h
@@ -6,7 +6,7 @@
 
 #include "ModuleManager.h"
 
-#include "NonCopyable.h"
+#include "Util/NonCopyable.h"
 
 DECLARE_LOG_CATEGORY_EXTERN(LogCarla, Log, All);
 DECLARE_LOG_CATEGORY_EXTERN(LogCarlaServer, Log, All);
diff --git a/Source/Carla/DynamicWeather.cpp b/Source/Carla/DynamicWeather.cpp
index 1bbdf98cf..ab4fdea23 100644
--- a/Source/Carla/DynamicWeather.cpp
+++ b/Source/Carla/DynamicWeather.cpp
@@ -3,7 +3,7 @@
 #include "Carla.h"
 #include "DynamicWeather.h"
 
-#include "IniFile.h"
+#include "Util/IniFile.h"
 
 #include "Components/ArrowComponent.h"
 
diff --git a/Source/Carla/Game/CarlaSettings.cpp b/Source/Carla/Game/CarlaSettings.cpp
index 386553ca0..93896896b 100644
--- a/Source/Carla/Game/CarlaSettings.cpp
+++ b/Source/Carla/Game/CarlaSettings.cpp
@@ -5,7 +5,7 @@
 
 #include "CommandLine.h"
 #include "DynamicWeather.h"
-#include "IniFile.h"
+#include "Util/IniFile.h"
 
 // INI file sections.
 #define S_CARLA_SERVER                 TEXT("CARLA/Server")
diff --git a/Source/Carla/Game/CarlaVehicleController.cpp b/Source/Carla/Game/CarlaVehicleController.cpp
index 8c57ce4f3..e5886b48f 100644
--- a/Source/Carla/Game/CarlaVehicleController.cpp
+++ b/Source/Carla/Game/CarlaVehicleController.cpp
@@ -245,7 +245,10 @@ void ACarlaVehicleController::OnCollisionEvent(
     FVector NormalImpulse,
     const FHitResult& Hit)
 {
-  CarlaPlayerState->RegisterCollision(Actor, OtherActor, NormalImpulse, Hit);
+  // Register collision only if we are moving faster than 1 km/h.
+  if (FMath::Abs(GetVehicleForwardSpeed()) > 1.0f) {
+    CarlaPlayerState->RegisterCollision(Actor, OtherActor, NormalImpulse, Hit);
+  }
 }
 
 // =============================================================================
diff --git a/Source/Carla/MapGen/DoublyConnectedEdgeList.h b/Source/Carla/MapGen/DoublyConnectedEdgeList.h
index f391ebd24..2902a45c8 100644
--- a/Source/Carla/MapGen/DoublyConnectedEdgeList.h
+++ b/Source/Carla/MapGen/DoublyConnectedEdgeList.h
@@ -3,8 +3,8 @@
 #pragma once
 
 #include "GraphTypes.h"
-#include "ListView.h"
 #include "Position.h"
+#include "Util/ListView.h"
 
 #include <array>
 #include <list>
diff --git a/Source/Carla/MapGen/ListView.h b/Source/Carla/MapGen/ListView.h
deleted file mode 100644
index dd2957d9e..000000000
--- a/Source/Carla/MapGen/ListView.h
+++ /dev/null
@@ -1,43 +0,0 @@
-// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
-
-#pragma once
-
-namespace MapGen {
-
-  template<typename IT>
-  class CARLA_API ListView
-  {
-  public:
-
-    using iterator = IT;
-
-    explicit ListView(iterator begin, iterator end) : Begin(begin), End(end) {}
-
-    template <typename STL_CONTAINER>
-    explicit ListView(STL_CONTAINER &StlContainer) :
-      Begin(iterator(StlContainer.begin())),
-      End(iterator(StlContainer.end())) {}
-
-    ListView(const ListView &) = default;
-    ListView &operator=(const ListView &) = delete;
-
-    iterator begin() const {
-      return Begin;
-    }
-
-    iterator end() const {
-      return End;
-    }
-
-    bool empty() const {
-      return Begin == End;
-    }
-
-  private:
-
-    const iterator Begin;
-
-    const iterator End;
-  };
-
-} // namespace MapGen
diff --git a/Source/Carla/MapGen/RoadMap.cpp b/Source/Carla/MapGen/RoadMap.cpp
index 957d31b04..c088f0668 100644
--- a/Source/Carla/MapGen/RoadMap.cpp
+++ b/Source/Carla/MapGen/RoadMap.cpp
@@ -14,9 +14,9 @@
 
 #define LOCTEXT_NAMESPACE "CarlaRoadMap"
 
-/// ============================================================================
-/// -- Static local methods ----------------------------------------------------
-/// ============================================================================
+// =============================================================================
+// -- Static local methods -----------------------------------------------------
+// =============================================================================
 
 static uint32 ClampFloatToUInt(const float Value, int32 Min, int32 Max)
 {
@@ -31,9 +31,9 @@ static float GetRotatedAzimuthAngle(const FVector &Direction)
   return SphericalCoords.Y + PI;
 }
 
-/// ============================================================================
-/// -- FRoadMapPixelData -------------------------------------------------------
-/// ============================================================================
+// =============================================================================
+// -- FRoadMapPixelData --------------------------------------------------------
+// =============================================================================
 
 uint16 FRoadMapPixelData::Encode(bool IsRoad, bool HasDirection, const FVector &Direction)
 {
@@ -58,9 +58,9 @@ FColor FRoadMapPixelData::EncodeAsColor() const
   }
 }
 
-/// ============================================================================
-/// -- URoadMap ----------------------------------------------------------------
-/// ============================================================================
+// =============================================================================
+// -- URoadMap -----------------------------------------------------------------
+// =============================================================================
 
 URoadMap::URoadMap(const FObjectInitializer& ObjectInitializer) :
   Super(ObjectInitializer),
diff --git a/Source/Carla/MapGen/RoadSegmentDescription.h b/Source/Carla/MapGen/RoadSegmentDescription.h
index 7cf8cd4a0..8d09b9b80 100644
--- a/Source/Carla/MapGen/RoadSegmentDescription.h
+++ b/Source/Carla/MapGen/RoadSegmentDescription.h
@@ -3,7 +3,7 @@
 #pragma once
 
 #include "GraphTypes.h"
-#include "NonCopyable.h"
+#include "Util/NonCopyable.h"
 
 #include <vector>
 
diff --git a/Source/Carla/IniFile.h b/Source/Carla/Util/IniFile.h
similarity index 100%
rename from Source/Carla/IniFile.h
rename to Source/Carla/Util/IniFile.h
diff --git a/Source/Carla/Util/ListView.h b/Source/Carla/Util/ListView.h
new file mode 100644
index 000000000..889abe1bc
--- /dev/null
+++ b/Source/Carla/Util/ListView.h
@@ -0,0 +1,39 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#pragma once
+
+template<typename IT>
+class CARLA_API ListView
+{
+public:
+
+  using iterator = IT;
+
+  explicit ListView(iterator begin, iterator end) : Begin(begin), End(end) {}
+
+  template <typename STL_CONTAINER>
+  explicit ListView(STL_CONTAINER &StlContainer) :
+    Begin(iterator(StlContainer.begin())),
+    End(iterator(StlContainer.end())) {}
+
+  ListView(const ListView &) = default;
+  ListView &operator=(const ListView &) = delete;
+
+  iterator begin() const {
+    return Begin;
+  }
+
+  iterator end() const {
+    return End;
+  }
+
+  bool empty() const {
+    return Begin == End;
+  }
+
+private:
+
+  const iterator Begin;
+
+  const iterator End;
+};
diff --git a/Source/Carla/NonCopyable.h b/Source/Carla/Util/NonCopyable.h
similarity index 72%
rename from Source/Carla/NonCopyable.h
rename to Source/Carla/Util/NonCopyable.h
index 839037aea..4641a5ef9 100644
--- a/Source/Carla/NonCopyable.h
+++ b/Source/Carla/Util/NonCopyable.h
@@ -7,5 +7,5 @@ public:
 
   NonCopyable(const NonCopyable &) = delete;
 
-  void operator=(const NonCopyable &x) = delete;
+  void operator=(const NonCopyable &) = delete;
 };
diff --git a/Source/Carla/WeatherDescription.cpp b/Source/Carla/WeatherDescription.cpp
index 83e9dec11..b020f8917 100644
--- a/Source/Carla/WeatherDescription.cpp
+++ b/Source/Carla/WeatherDescription.cpp
@@ -3,7 +3,7 @@
 #include "Carla.h"
 #include "WeatherDescription.h"
 
-#include "IniFile.h"
+#include "Util/IniFile.h"
 
 static FString PrecipitationTypeToString(EPrecipitationType PrecipitationType)
 {