diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 08f2159..a0b99f1 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -92,3 +92,12 @@ jobs:
             src/Interfaces/IControllable.st \
             src/FunctionBlocks/TrafficLight.st \
             --test tests/test_interface.st
+
+      - name: Run pedestrian timeout fix tests
+        run: |
+          strucpp \
+            src/DataTypes/TrafficTypes.st \
+            src/Interfaces/IControllable.st \
+            src/FunctionBlocks/TrafficLight.st \
+            src/FunctionBlocks/PedestrianLight.st \
+            --test tests/test_pedestrian_timeout_fix.st
diff --git a/src/FunctionBlocks/PedestrianLight.st b/src/FunctionBlocks/PedestrianLight.st
index d00d8bc..89f060e 100644
--- a/src/FunctionBlocks/PedestrianLight.st
+++ b/src/FunctionBlocks/PedestrianLight.st
@@ -71,13 +71,16 @@ FUNCTION_BLOCK PedestrianLight EXTENDS TrafficLight
       END_IF;
     END_IF;
   ELSE
-    (* Not safe to walk — reset to DONT_WALK *)
+    (* Not safe or not requested — reset to DONT_WALK *)
     IF currentState <> TrafficState.RED THEN
-      pedestrianState := PedestrianState.DONT_WALK;
       walkRequest := FALSE;
-      flashCount := 0;
-      flashOn := FALSE;
     END_IF;
+    pedestrianState := PedestrianState.DONT_WALK;
+    flashCount := 0;
+    flashOn := FALSE;
+    (* Reset timers to prevent stale state on next walk cycle *)
+    walkTimer(IN := FALSE, PT := walkDuration);
+    flashTimer(IN := FALSE, PT := T#500ms);
   END_IF;
 
   (* Update pedestrian signal outputs *)
diff --git a/tests/test_pedestrian_timeout_fix.st b/tests/test_pedestrian_timeout_fix.st
new file mode 100644
index 0000000..5cfb0f3
--- /dev/null
+++ b/tests/test_pedestrian_timeout_fix.st
@@ -0,0 +1,85 @@
+(* Tests for pedestrian timeout fix — verifies timer reset on state change *)
+
+TEST 'Walk timer resets when traffic leaves RED'
+  VAR
+    ped : PedestrianLight;
+    timing : PhaseTiming;
+  END_VAR
+
+  timing.redDuration := T#500ms;
+  timing.greenDuration := T#100ms;
+  timing.yellowDuration := T#50ms;
+  ped.timing := timing;
+  ped.walkDuration := T#200ms;
+
+  (* Start walking during RED *)
+  ped.walkRequest := TRUE;
+  ped();
+  ASSERT_EQ(ped.pedestrianState, PedestrianState.WALK, 'Walking during RED');
+
+  (* Advance partially through walk duration *)
+  ADVANCE_TIME(T#50ms);
+  ped();
+
+  (* Force traffic to GREEN by advancing past red duration *)
+  ADVANCE_TIME(T#450ms);
+  ped();
+  ASSERT_EQ(ped.currentState, TrafficState.GREEN, 'Traffic now GREEN');
+  ASSERT_EQ(ped.pedestrianState, PedestrianState.DONT_WALK, 'Walk cancelled');
+
+  (* Go through GREEN + YELLOW back to RED *)
+  ADVANCE_TIME(T#50ms);
+  ped();
+  ADVANCE_TIME(T#50ms);
+  ped();
+  ADVANCE_TIME(T#25ms);
+  ped();
+  ADVANCE_TIME(T#25ms);
+  ped();
+
+  (* Should be back in RED now *)
+  ASSERT_EQ(ped.currentState, TrafficState.RED, 'Back to RED');
+
+  (* Request walk again during new RED phase *)
+  ped.walkRequest := TRUE;
+  ped();
+  ASSERT_EQ(ped.pedestrianState, PedestrianState.WALK, 'Can walk again');
+
+  (* Walk timer should start fresh, not carry over old elapsed time.
+     Only 100ms elapsed out of 200ms duration — should still be walking. *)
+  ADVANCE_TIME(T#100ms);
+  ped();
+  ASSERT_EQ(ped.pedestrianState, PedestrianState.WALK,
+    'Still walking — timer was properly reset');
+END_TEST
+
+TEST 'Flash timer resets when traffic leaves RED'
+  VAR
+    ped : PedestrianLight;
+    timing : PhaseTiming;
+  END_VAR
+
+  timing.redDuration := T#500ms;
+  timing.greenDuration := T#100ms;
+  timing.yellowDuration := T#50ms;
+  ped.timing := timing;
+  ped.walkDuration := T#50ms;
+
+  (* Walk and transition to flashing *)
+  ped.walkRequest := TRUE;
+  ped();
+  ADVANCE_TIME(T#25ms);
+  ped();
+  ADVANCE_TIME(T#25ms);
+  ped();
+  ASSERT_EQ(ped.pedestrianState, PedestrianState.FLASHING, 'Should be flashing');
+
+  (* Simulate early exit — flash count and timer should reset cleanly *)
+  ped.walkRequest := FALSE;
+  ped();
+
+  (* Re-request walk *)
+  ped.walkRequest := TRUE;
+  ped();
+  ASSERT_EQ(ped.pedestrianState, PedestrianState.WALK, 'Fresh walk cycle');
+END_TEST