Walk to work, bike to work -- more and more civic groups in American cities, including Baltimore, are encouraging people to commute on foot or by bicycle. It’s cheap, healthy, environmentally impeccable. But is it safe? After decades of designing streets for the motorist, how can American cities make sufficient room for the pedestrian or pedalist? What makes a 21st Century street complete? And what effect could self-driving cars have on future urban planning? Our guests: Victor Dover, co-author of "Street Design: The Secret to Great Cities and Towns," and Midday contributor, architect and blogger Klaus Philipsen, president of ArchPlan, Inc.