There are sub-classes of pedestrians that can be defined and it is important to distinguish between them for the detection in autonomous vehicle applications, such as elderly, and children, to reduce the risk of collision. It is necessary to talk about effective pedestrian tracking besides detection so that object remains accurately monitored, here the effective pre-trained algorithms come to achieve this goal in real-time. In this paper, we make a comparison between the detection and tracking algorithms, we applied the transfer learning technique to train the detection model on new sub-classes, after making Images augmentation in previous work, we got better results in detection, reached 0.81 mAP in real-time by using Yolov5 model, with a good tracking performance by the tracking algorithm dependent on detection Deep-SORT.