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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 stateof-the art and discuss its accuracy, and limitations, both in simulations and in comparison to real data.doi:10.23919/ecc.2018.8550300 dblp:conf/eucc/BatkovicZLF18 fatcat:tnoki5qlyjhp5prr6sq64cuiau