Given its huge stride length, it could easily outrun a human even if the actual top speed was not very high. The long arms gave it huge reach and longer strides. Not that any sauropods were super-fast, and Giraffatitan counted far more on size than speed when faced with predators, but it could easily leave any diplodocid or camarasaur in the dust. Their shorter legs would have a hard time keeping up. However, brachiosaurs were relatively short in the shin, so this may have reduced their speed somewhat. But there is an advantage to having long arms so you are not constantly tripping over yourself with your hindlegs. I look at stegosaurs and dicraeosaurs and sometimes wonder how these wimpy-armed animals could manage anything more than a slow walk without falling head-first and eating dirt.
There's a recent series on youtube about "killer dinosaurs", one episode covers Acrocanthosaurus and shows it chasing a rather fast Paluxysaurus. The animation, while not top-notch, does show based on limb biomechanics that brachiosaurs could run surprisingly fast for their size (to top things off, Acro had short feet for its size and was fairly slow as far as big predators went, so it really was a tough chase). I'd love to see Atlasaurus in action, basically a huge mega-arms browsing platform with a surprisingly undersized neck for a brachiosaur - as if to say, don't stretch out your neck for food, just run to it!