It depends on the track. Since different tracks have different pit road speeds, the pace car will drive about ten mph faster than the pit road speed under caution laps. At the beginning of the race, however, the laps that the cars do before the green flash drops (also called parade laps) are done at pit road speed. This is so the cars can match their rpms with the pit road speed, as NASCAR does not allow any kind of speed monitoring devices in the vehicles.
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