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We present a mathematical model to predict pedestrian motion over a finite horizon, intended for use in collision avoidance algorithms for autonomous driving. The model is based on a road map structure, and assumes a rational pedestrian behavior. We compare our model with the state-of-the art and discuss its accuracy, and limitations, both in simulations and in comparison to real data.arXiv:1803.04702v1 fatcat:zyj6romcqrbcnglcrolgvi65uy