Yes, but not pedestrian related.
You speak German, right? Check the Kirschbaum-Verlag in Bonn. They wrote books and offer libraries regarding every aspect of car homologation, regulations etc. They are well known and produce their stuff for car manufacturers, tuner, workshops, parts manufacturers (aftermarket) and organizations like TÜV, DEKRA, etc. The authors are lawyers and engineers which take the regualtions and write them down in an understandable format. But you also get all regulations in pure format etc. from them as a searchable library. That is called "Was ist wie" and "FEE - Fahrzeugtechning & EWG/EU/ECE". If you have a subscription these gets updated on a regualar basis.
AWo