Setting aside "urban development" and "growth", there's lots of ways to design a street intersection -- for example, pedestrian bulbs at the corner so cars can't park in the crosswalk -- so that cyclists and drivers can see who is coming from the other directions with more than enough distance to stop in time. Hoboken has many intersections with these improvements.

If these had been done, both the cyclist and the driver would have been more likely to see the other, and stop sooner (possibly).