A tactile warning pad is configured for working in conjunction with a pedestrian notification system. The tactile warning pad includes a base pad, a pad and communication control unit, and a warning output device. The base pad has a plurality of tactile structures on a surface of the base pad. The base pad at least partially houses or is coupled to the pad and communication control unit and the warning output device. The warning output device is communicatively coupled with the pad communication and control unit and is configured to receive a warning control signal from the pedestrian notification system via the pad communication and control unit and to generate an output warning based on the warning control signal.