How do drivers negotiate intersections with pedestrians? The importance of pedestrian time-to-arrival and visibility

Forward collision warning (FCW) and autonomous emergency braking (AEB) systems are increasingly available and prevent or mitigate collisions by alerting the driver or autonomously braking the vehicle. Threat-assessment and decision-making algorithms for FCW and AEB aim to find the best compromise for safety by intervening at the "right" time: neither too early, potentially upsetting the driver, nor too late, possibly missing opportunities to...