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People are driven by their perceptions. Perceptions of the environment shape mobility decisions and represent the “lived reality” of accessibility but are mostly disregarded in common accessibility analysis. This paper explores the role of perceived accessibility. By using a structural equation modelling (SEM) approach, we investigate multiple relations between travel attitudes, socio-demographic factors, objective walking accessibility, perceived walking accessibility and realised walking behaviour in three steps. Firstly, we analyse the influence of objective walking accessibility and travel attitudes on perceived walking accessibility. Secondly, we look at perceived walking accessibility as a mediator variable and, finally, we investigate the association between perceived walking accessibility and walking behaviour. Key results imply that travel attitudes are important in understanding variations in perceptions, in terms of …