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The development of intelligent autonomous cars is of great interest. A particular and challenging problem is to handle pedestrians, for example, crossing or walking along the road. Since pedestrians are one of the most fragile elements in traffic, a reliable pedestrian detection and handling system is mandatory. The current pedestrian handling system of our autonomous cars suffers from the limitation of the pure detection-based systems, i.e., it limits the autonomous car system to make decisions based only on the very present moment. This work improves the pedestrian handling systems by incorporating an object tracker with the aim of predicting the pedestrian’s behavior. With this knowledge, the autonomous car can better decide the time to stop and to start moving, providing a more comfortable, efficient, and safer driving experience. The proposed method was augmented with a path generator, based on Frenét …