The accurate way would be "able-bodied".
But that's not all that precise. To the sprinter, the mere brisk jogger is disabled. To the brisk jogger, the dog-trotter is disabled. To the dog-trotter, he who can but walk is disabled. To he who can but walk, the shuffler is disabled. To the shuffler, the crawler is disabled. To the crawler, the wriggler is disabled. Where do you want to draw the arbitrary line?
You're going to have to define something about being capable in context. Perhaps 70th percentile of entire population in "speed of jogging the length of a crosswalk when motivated", plus perhaps 70th percentile in visual acuity and hearing, plus maybe 30th percentile of mental alertness. Something about ability to swivel his neck should also be in there. And you're going to have to publish precise specs so the poor crosswalker knows how hard he has to exert himself, and whether he should just give up the attempt. Actually, you still need real-time feedback so he knows he's pacing himself successfully. Should he bowl over the 80 year old lady with the huge armful of groceries to save himself? Or knock the groceries to the ground, pick her up and sprint with her?
A better solution (strictly in theory) would be to give everyone entering a crosswalk a token which is surrendered on making the goal safely. The traffic light will then never turn green until the token count reaches zero. If some lengthy timeout occurs with the token count never reaching zero, the intersection is frozen in both directions, an audiovisual alarm annunciator set, and the authorities are summoned to evaluate and clear the situation. Unfortunately the DOS potential of such a scheme is huge.
In a more useful vein, one could suggest that separating the vehicle grade from the pedestrian grade in congested areas (cities, certainly) is the proper solution. With all vehicular traffic moved to a dedicated subterranean grade, you eliminate such vexing problems, including not only pedestrian safety, but also vision impairment due to precipitation and sub glare, traction hazard due to ice and snow, etc. Also, the surface of the city becomes one big pedestrian mall / prark. We have to decide which level bicycles belong on. OK, so I'm a utopian science fiction writer at heart.