PedSense integrates computer vision, radar, and acoustic sensors with deep learning algorithms to continuously monitor road and rail crossings, detect hazards, and forecast pedestrian and vehicle movements. It delivers multi-modal alerts via visual, audio, and haptic signals to protect pedestrians, including people with disabilities, while prioritizing deployment in underserved communities. The modular system supports edge computing for privacy-conscious, efficient data processing and is scalable for diverse environments and future upgrades.