I'd say they are 'juxtaposed' or 'next to' each other - as they are each clearly visible to each other - you can see one from the other. If you can see either one, you certainly don't need directions to the other - because you can already see it!
You could even say 'co-located' or, 'located together'. Or just 'together'. This saves you from needing to specify West etc - which might be confusing.
By the way, unless the gates are usually closed, I would call them the 'vehicle entry' and the 'pedestrian entry'. If you are telling people 'where to enter' then I would use 'entry' as it is then congruent with their action of entering. If you want people to not enter - then I'd use 'gate' which sounds more congruent with 'being prevented from entering'.
So, I would suggest: the pedestrian and vehicle entry gates are located next to each other, on the West side of the street.
(Or, ...are located on the left side of the street when coming from (eg) Cuddlestown (nearest local place name).
If you want to, you could say 'the pedestrian gate is on the left, just before the vehicle gate, and both are on the left side of the street as you approach from Cuddlestown'.
'Just before' means it precedes, and is very close to, the other gate.
Or, 'you'll see the pedestrian gate on the left, closely followed by the vehicle gate, also on the left, as you approach from Cuddlestown.'
The 'walk path' is more properly called the 'pavement'. Walk path isn't really idiomatic and doesn't sound correct. But I don't think you need to mention the pavement, I would just focus on the gates - if you are giving directions.