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There is 6 seconds in a round. To convert a mph to a ft per round like the game uses multiply by 8.8. To go from ft per round into mph you take the inverse of 8.8, which is 0.1136.
X ft 1 mile 60 sec 60 min
---- * ------ * ------ * ------ = Y mph
6 sec 5280 ft 1 min 1 hr
This means a avg human goes ~3.4 mph during a single move action.
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A reasonable estimate is that every 10ft of move speed is 1mph at a slow-but-steady pace and 2mph at a quick pace. Vehicles are generally always at their "quick" pace (well, inorganic ones anyway). So if the vehicle travels at 40mph it would likely have a move speed of about 200.
Note that vehicles usually have non-trivial acceleration time. Even the good cars today would take between a half a round and a round to get to "quick" speed.
You can do the math to be more accurate (as mishima noted), but it's probably not worth it. Especially considering all the move speeds listed in various books for PF use the estimating method above.
Normally a DM should houserule higher speeds...
Higher!? It's already almost a 4-minute mile, even without the run or fleet feats.
Translates surprisingly well imho.
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While all the calculations given above are interesting and sometime useful, the actual overland movement rate is here] in the PDR or pages 170-172 of the Core rulebook.
As it factor the effect of terrain and exhaustion it is more useful than extrapolating the MPH from the foot per round.
Naturally it all depend on what you need it for.
If what you want to know is how far a 40 MPH vehicle will move in one round, the calculations offered above are very useful, but then remember that the vehicle will not be capable to accelerate to maximum speed or stop in one round and it is not capable to do a U turn at that speed.
There are veicle rules in the Ultimate combat, but I haven't jet read them.
