Leslie Bingham, aged 73, was hit by a marked police vehicle while walking across a pedestrian crossing on Penistone Road as he made his way to Owlerton Greyhound Stadium to celebrate his granddaughter Katie's 21st birthday.
A jury described the multiple pedestrian crossings at the scene as "very confusing" and coroner Christopher Dorries has now written to Sheffield Council asking them to look at how they are set up.
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We can today reveal that concerns were raised in the Sheffield Star about the safety of pedestrian crossings on the road as far back as March 2015.
Matt Turner, aged 31, former chair of Cycle Sheffield, branded it the 'most dangerous crossing' he has ever seen and described how pedestrians had been left confused by numerous crossing boxes and were not certain which one referred to which crossing.
He described it as an "accident waiting to happen.”
The Star understands a push button was realigned and information sheets were also put up advising people how to use the crossing.
But Mr Bingham's daughter Angela Pilkington claimed even more action should have been taken by the authority.
She said: "They should have sorted it out and make proper changes in the first place. It was predicted and it happened.
"I know my dad is gone but the council needs to sort it out asap."
Mr Turner echoed her concerns and said: "I can't see what they have done, it still looks the same."
The crossing was installed as part of a major £5 million scheme to ease congestion and upgrade Penistone Road – said to be Sheffield’s second busiest street after the Parkway and used by 60, 000 motorists a day.
Sheffield Council has received coroner Dorries' report and officials are reviewing his recommendations.
Meetings will also take place with those who designed the crossing.
Councillor Jack Scott, cabinet member for transport and development, said councillor Neale Gibson has been tasked with looking into the issue and will "work with local people, interested groups and the police."
He expressed sympathy to Mr Bingham's family and added the authority "will do everything in our power to make this crossing safer.”
Mr Bingham, a former metal worker of Malin Bridge, died of multiple injuries following the collision in January last year.
The Independent Office for Police Conduct probed the incident and PC Hazelhurst was brought before a misconduct meeting in December.
He was found to have 'breached the standards of professional behaviour' and was given management advice and ordered to complete a bespoke driver training course.
A jury inquest held at Sheffield Medico Legal Centre recorded a narrative conclusion.