Intelligent Pedestrian Model as a Risk-Based Framework for Pedestrian Prioritization

Pedestrian safety at urban intersections requires risk-aware mechanisms that extend beyond binary collision detection toward comparative prioritization among multiple agents. This study introduces the Intelligent Pedestrian Model (IPM). This reference-normalized scalar framework represents pedestrian risk as a function of trajectory, contextual, infra-structural, and behavioral factors, decomposed into Exposure and Severity components. Building on IPM, the Safety-Prioritized Trajectory Model (SPTM) operationalizes the Ex-posure component using an observation-only, leakage-free kinematic proxy embedded into a cost-aware negative log-likelihood objective. Evaluation on the ETH/UCY benchmark under a strictly inductive protocol shows that moderate prioritization (β ≈ 1.0) improves best-of-K multimodal performance (ALL FDE@K: 0.979 → 0.970 m) while maintaining mean displacement accuracy within seed-level variability. The results indicate that Expo-sure-based weighting does not act as a global accuracy enhancer but redistributes predictive capacity toward safety-relevant motion regimes. Validation is limited to a single benchmark fold; cross-fold generalization and full IPM instantiation remain future work.