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Safety-oriented pedestrian trajectory prediction at urban intersections using time-to-collision and crossing-zone context

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

Accurate pedestrian trajectory prediction is important for proactive road-safety applications, particularly at urban intersections where pedestrian motion is shaped by both vehicle interactions and crossing context. This study presents a safety-oriented trajectory-prediction framework that combines pedestrian motion history with Time-to-Collision (TTC) information and crossing-zone indicators. Using naturalistic trajectories from one urban intersection in the inD (Intersection Drone) dataset, several neural architectures were evaluated with 1.6 s observation and 2.4 s prediction horizons. A po

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