As safety professionals there needs to be an accepted start-off point that everyone is in agreement with and a basic acceptance of fact.
When in comes to lift trucks, the fact is a simple one: pedestrians have the right-of-way. To promote anything else could cause legal exposure if you are a consultant/trainer charging for your services.
If you are employed as a health and safety person and promote anything other than this fact, I do have to question your decision.
You can talk about all the other items; safety garments, travel speed, no-go zones - whatever. These are secondary to the fundamentals of lift truck use.
Based on some of the replies that I've seen on this and other postings, it concerns me that we can't have a short answer to a very specific question that everyone agrees on. It shows why lift truck accidents still happen in the numbers that we see!