"Pedestrian prohibited from driving in" is one way to express this idea in Engpsh.

The phrase "prohibited from" means not allowed to do something. "Driving in" means entering or going into a place by driving a vehicle.

Here are some example sentences using this phrase:

"The sign at the entrance to the park said 'Pedestrian prohibited from driving in.' That means pedestrians are not allowed to drive their vehicles into the park."
"The pedestrian zone is strictly enforced, with signs reading 'Pedestrian prohibited from driving in.' Only pedestrians and bicycles are allowed in this area."
"For safety reasons, pedestrians are prohibited from driving in the tunnel. Only vehicles are allowed to pass through."

I hope this helps!